{
    "0": {
        "acceleration": [
            0.0001771065581124276,
            0.014080312103033066,
            -0.6276071071624756
        ],
        "angular_velocity": [
            -0.015493771061301231,
            -0.02615058608353138,
            -0.0004592307668644935
        ],
        "forward_vector": [
            -0.09335301071405411,
            0.9954127073287964,
            0.02094687521457672
        ],
        "right_vector": [
            -0.9956307411193848,
            -0.09337816387414932,
            0.00022365525364875793
        ],
        "location": [
            973.8739013671875,
            3291.0732421875,
            368.6194763183594
        ],
        "rotation": [
            -0.012817314825952053,
            1.2002553939819336,
            95.35771179199219
        ],
        "velocity": [
            6.775170186301693e-05,
            -0.0028836545534431934,
            0.14178667962551117
        ],
        "speed": 0.002884450359548418,
        "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": 104.96334838867188,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087158203125,
                3394.71044921875,
                370.11236572265625
            ],
            "velocity": [
                0.02979888767004013,
                -0.0008439861121587455,
                0.2642974555492401
            ],
            "speed_kmh": 0.9575041149427838,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.2680605351924896,
                "transform": {
                    "location": {
                        "x": 955.87841796875,
                        "y": 3403.591552734375,
                        "z": 370.1629638671875
                    },
                    "rotation": {
                        "roll": 0.8492583632469177,
                        "pitch": 0.4291885793209076,
                        "yaw": 99.13800811767578
                    }
                },
                "velocity": {
                    "x": 0.003304203972220421,
                    "y": -0.0015533012337982655,
                    "z": 0.2680356800556183
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.26597335934638977,
                "transform": {
                    "location": {
                        "x": 957.3087158203125,
                        "y": 3394.71044921875,
                        "z": 370.11236572265625
                    },
                    "rotation": {
                        "roll": 1.6145589351654053,
                        "pitch": 1.2450000047683716,
                        "yaw": 99.16064453125
                    }
                },
                "velocity": {
                    "x": 0.02979888767004013,
                    "y": -0.0008439861121587455,
                    "z": 0.2642974555492401
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08607993274927139,
        "expert_target_speed": 1.3410192629541622,
        "target_point": [
            51.6073866056885,
            2.4064092573183355
        ],
        "target_point_next": [
            102.49610496610906,
            5.772911566991098
        ]
    },
    "5": {
        "acceleration": [
            -0.004718312527984381,
            0.005254210904240608,
            -0.2648109793663025
        ],
        "angular_velocity": [
            -0.009443429298698902,
            0.0005640277522616088,
            0.00014874071348458529
        ],
        "forward_vector": [
            -0.09335345774888992,
            0.995413601398468,
            0.020902421325445175
        ],
        "right_vector": [
            -0.9956308603286743,
            -0.09337633103132248,
            0.0001187492161989212
        ],
        "location": [
            973.8739013671875,
            3291.072998046875,
            368.64019775390625
        ],
        "rotation": [
            -0.006805315613746643,
            1.1977077722549438,
            95.35773468017578
        ],
        "velocity": [
            -5.748013063566759e-05,
            -0.0008850094745866954,
            0.042394209653139114
        ],
        "speed": 0.0008868741373645485,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.82357406616211,
        "front_vehicle_info": {
            "id": 4052,
            "type": "vehicle.ford.mustang",
            "location": [
                972.2531127929688,
                3305.804931640625,
                368.92572021484375
            ],
            "velocity": [
                -0.0011492313351482153,
                0.00911837536841631,
                -0.5041758418083191
            ],
            "speed_kmh": 1.815334562759251,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.9348754882812,
                        "y": 3370.810791015625,
                        "z": 369.9275207519531
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.726318359375,
                        "y": 3370.294189453125,
                        "z": 369.927490234375
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5042595863342285,
                "transform": {
                    "location": {
                        "x": 972.2531127929688,
                        "y": 3305.804931640625,
                        "z": 368.92572021484375
                    },
                    "rotation": {
                        "roll": -0.002868675859645009,
                        "pitch": 1.0445339679718018,
                        "yaw": 97.1997299194336
                    }
                },
                "velocity": {
                    "x": -0.0011492313351482153,
                    "y": 0.00911837536841631,
                    "z": -0.5041758418083191
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4548170566558838,
                "transform": {
                    "location": {
                        "x": 970.1559448242188,
                        "y": 3320.498779296875,
                        "z": 369.1890563964844
                    },
                    "rotation": {
                        "roll": -0.0005188416689634323,
                        "pitch": 0.9241108894348145,
                        "yaw": 99.04492950439453
                    }
                },
                "velocity": {
                    "x": -0.0010848863748833537,
                    "y": 0.007302069570869207,
                    "z": -0.4547571539878845
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3635392189025879,
                "transform": {
                    "location": {
                        "x": 978.9415283203125,
                        "y": 3261.520751953125,
                        "z": 367.989013671875
                    },
                    "rotation": {
                        "roll": -0.0006103418418206275,
                        "pitch": 1.3141692876815796,
                        "yaw": 91.66436767578125
                    }
                },
                "velocity": {
                    "x": -0.0003609201521612704,
                    "y": 0.008116889744997025,
                    "z": -0.3634484112262726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4345535933971405,
                "transform": {
                    "location": {
                        "x": 978.266845703125,
                        "y": 3276.453125,
                        "z": 368.3382263183594
                    },
                    "rotation": {
                        "roll": -0.000701930548530072,
                        "pitch": 1.3048324584960938,
                        "yaw": 93.5093994140625
                    }
                },
                "velocity": {
                    "x": -0.0007119026849977672,
                    "y": 0.009365384466946125,
                    "z": -0.434452086687088
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3640974462032318,
                "transform": {
                    "location": {
                        "x": 975.4774780273438,
                        "y": 3306.212158203125,
                        "z": 368.9373474121094
                    },
                    "rotation": {
                        "roll": -0.0011902506230399013,
                        "pitch": 1.0425258874893188,
                        "yaw": 97.19972229003906
                    }
                },
                "velocity": {
                    "x": -0.0009208510746248066,
                    "y": 0.006420545279979706,
                    "z": -0.36403968930244446
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3565762937068939,
                "transform": {
                    "location": {
                        "x": 973.3656005859375,
                        "y": 3321.00927734375,
                        "z": 369.1932678222656
                    },
                    "rotation": {
                        "roll": 0.0010913729202002287,
                        "pitch": 0.9291242361068726,
                        "yaw": 99.04486083984375
                    }
                },
                "velocity": {
                    "x": -0.0008048596791923046,
                    "y": 0.0055177174508571625,
                    "z": -0.3565326929092407
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.08202038705348969,
                "transform": {
                    "location": {
                        "x": 955.8781127929688,
                        "y": 3403.59033203125,
                        "z": 370.2065124511719
                    },
                    "rotation": {
                        "roll": 0.15837574005126953,
                        "pitch": 0.23760861158370972,
                        "yaw": 99.13880157470703
                    }
                },
                "velocity": {
                    "x": 0.006232679821550846,
                    "y": -0.0004111495509278029,
                    "z": 0.08178219944238663
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.037286560982465744,
                "transform": {
                    "location": {
                        "x": 957.3087158203125,
                        "y": 3394.70703125,
                        "z": 370.1436767578125
                    },
                    "rotation": {
                        "roll": 0.13244004547595978,
                        "pitch": 0.8001907467842102,
                        "yaw": 99.13956451416016
                    }
                },
                "velocity": {
                    "x": 0.01258600689470768,
                    "y": 0.0008624489419162273,
                    "z": 0.035087551921606064
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08696294575929642,
        "expert_target_speed": 1.2093371171873728,
        "target_point": [
            51.60762967969902,
            2.406386461042702
        ],
        "target_point_next": [
            102.49634804011959,
            5.772888770715465
        ]
    },
    "10": {
        "acceleration": [
            -0.006690869107842445,
            0.041253745555877686,
            -0.08023203909397125
        ],
        "angular_velocity": [
            -0.013183278031647205,
            0.010859906673431396,
            -0.008320722728967667
        ],
        "forward_vector": [
            -0.09335169941186905,
            0.9954139590263367,
            0.02089110016822815
        ],
        "right_vector": [
            -0.9956310987472534,
            -0.09337387979030609,
            8.680019527673721e-05
        ],
        "location": [
            973.8739013671875,
            3291.072998046875,
            368.6459045410156
        ],
        "rotation": [
            -0.00497437035664916,
            1.197058916091919,
            95.35762786865234
        ],
        "velocity": [
            -0.00016757070261519402,
            0.001728486968204379,
            0.010664429515600204
        ],
        "speed": 0.001736590665536158,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.82331371307373,
        "front_vehicle_info": {
            "id": 4052,
            "type": "vehicle.ford.mustang",
            "location": [
                972.2530517578125,
                3305.804931640625,
                368.9172058105469
            ],
            "velocity": [
                -8.85726694832556e-05,
                -0.001945623429492116,
                0.10249649733304977
            ],
            "speed_kmh": 0.3690540006354571,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.2658081054688,
                        "y": 3368.753662109375,
                        "z": 369.88134765625
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.0573120117188,
                        "y": 3368.237060546875,
                        "z": 369.88134765625
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10251499712467194,
                "transform": {
                    "location": {
                        "x": 972.2530517578125,
                        "y": 3305.804931640625,
                        "z": 368.9172058105469
                    },
                    "rotation": {
                        "roll": -0.0022277599200606346,
                        "pitch": 1.0459272861480713,
                        "yaw": 97.1997299194336
                    }
                },
                "velocity": {
                    "x": -8.85726694832556e-05,
                    "y": -0.001945623429492116,
                    "z": 0.10249649733304977
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09423626214265823,
                "transform": {
                    "location": {
                        "x": 970.1559448242188,
                        "y": 3320.498779296875,
                        "z": 369.1819152832031
                    },
                    "rotation": {
                        "roll": -0.0012817876413464546,
                        "pitch": 0.9243841171264648,
                        "yaw": 99.04496765136719
                    }
                },
                "velocity": {
                    "x": 0.0002812219026964158,
                    "y": -0.0015643441583961248,
                    "z": 0.09422285854816437
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.044361237436532974,
                "transform": {
                    "location": {
                        "x": 978.9415283203125,
                        "y": 3261.521240234375,
                        "z": 367.9813232421875
                    },
                    "rotation": {
                        "roll": -0.00024419036344625056,
                        "pitch": 1.3165735006332397,
                        "yaw": 91.66446685791016
                    }
                },
                "velocity": {
                    "x": -0.0001107626740122214,
                    "y": -0.0010514111490920186,
                    "z": 0.04434863477945328
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027809860184788704,
                "transform": {
                    "location": {
                        "x": 978.2667846679688,
                        "y": 3276.45361328125,
                        "z": 368.3140563964844
                    },
                    "rotation": {
                        "roll": -0.00137322919908911,
                        "pitch": 1.3142307996749878,
                        "yaw": 93.50949096679688
                    }
                },
                "velocity": {
                    "x": -5.386973498389125e-05,
                    "y": -0.0006970553076826036,
                    "z": 0.027801070362329483
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04481438919901848,
                "transform": {
                    "location": {
                        "x": 975.4774780273438,
                        "y": 3306.21240234375,
                        "z": 368.92962646484375
                    },
                    "rotation": {
                        "roll": -0.002258285880088806,
                        "pitch": 1.0438235998153687,
                        "yaw": 97.19976043701172
                    }
                },
                "velocity": {
                    "x": 0.00014559765986632556,
                    "y": -0.0008243967313319445,
                    "z": 0.04480656981468201
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.043485794216394424,
                "transform": {
                    "location": {
                        "x": 973.3655395507812,
                        "y": 3321.00927734375,
                        "z": 369.1857604980469
                    },
                    "rotation": {
                        "roll": 0.0002928295871242881,
                        "pitch": 0.9306951761245728,
                        "yaw": 99.04492950439453
                    }
                },
                "velocity": {
                    "x": 8.147675544023514e-05,
                    "y": -0.0007677578832954168,
                    "z": 0.043478939682245255
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.01178397610783577,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.58984375,
                        "z": 370.21539306640625
                    },
                    "rotation": {
                        "roll": 0.01996714062988758,
                        "pitch": 0.17770102620124817,
                        "yaw": 99.13929748535156
                    }
                },
                "velocity": {
                    "x": 0.0006709275185130537,
                    "y": -8.685700595378876e-05,
                    "z": 0.01176454033702612
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.004317564889788628,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.14501953125
                    },
                    "rotation": {
                        "roll": -0.013549801893532276,
                        "pitch": 0.7240068316459656,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.00013864519132766873,
                    "y": -8.116327080642805e-05,
                    "z": -0.004314574878662825
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08595433086156845,
        "expert_target_speed": 1.1777418100827932,
        "target_point": [
            51.60762508978722,
            2.4064848947802373
        ],
        "target_point_next": [
            102.49633702902166,
            5.773084266974266
        ]
    },
    "15": {
        "acceleration": [
            -0.39606064558029175,
            4.281015396118164,
            0.0751129537820816
        ],
        "angular_velocity": [
            0.8329343795776367,
            0.07609139382839203,
            0.6500633955001831
        ],
        "forward_vector": [
            -0.09154397994279861,
            0.9954233765602112,
            0.02742411382496357
        ],
        "right_vector": [
            -0.9957975745201111,
            -0.09158135950565338,
            0.0001075528489309363
        ],
        "location": [
            973.8528442382812,
            3291.29736328125,
            368.6504211425781
        ],
        "rotation": [
            -0.006164642982184887,
            1.5714830160140991,
            95.2544174194336
        ],
        "velocity": [
            -0.13998061418533325,
            1.51444411277771,
            0.03280961140990257
        ],
        "speed": 1.520899583494837,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.597991943359375,
        "front_vehicle_info": {
            "id": 4052,
            "type": "vehicle.ford.mustang",
            "location": [
                972.2530517578125,
                3305.8046875,
                368.9324951171875
            ],
            "velocity": [
                6.27307963441126e-05,
                -0.00046035886043682694,
                0.02356172725558281
            ],
            "speed_kmh": 0.08483870757400586,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.5971069335938,
                        "y": 3366.69677734375,
                        "z": 369.8351745605469
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.3884887695312,
                        "y": 3366.179931640625,
                        "z": 369.83514404296875
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.02356630750000477,
                "transform": {
                    "location": {
                        "x": 972.2530517578125,
                        "y": 3305.8046875,
                        "z": 368.9324951171875
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": 1.0454082489013672,
                        "yaw": 97.19979858398438
                    }
                },
                "velocity": {
                    "x": 6.27307963441126e-05,
                    "y": -0.00046035886043682694,
                    "z": 0.02356172725558281
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020504459738731384,
                "transform": {
                    "location": {
                        "x": 970.1559448242188,
                        "y": 3320.498291015625,
                        "z": 369.19586181640625
                    },
                    "rotation": {
                        "roll": -0.001006996724754572,
                        "pitch": 0.9234893321990967,
                        "yaw": 99.04496765136719
                    }
                },
                "velocity": {
                    "x": -8.898152009351179e-05,
                    "y": -0.0003911797539331019,
                    "z": 0.020500535145401955
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1284579038619995,
                "transform": {
                    "location": {
                        "x": 978.9373779296875,
                        "y": 3261.608154296875,
                        "z": 367.9901123046875
                    },
                    "rotation": {
                        "roll": -0.006134056951850653,
                        "pitch": 1.4588805437088013,
                        "yaw": 91.76386260986328
                    }
                },
                "velocity": {
                    "x": -0.05189502239227295,
                    "y": 1.1266261339187622,
                    "z": 0.03791928291320801
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9164068102836609,
                "transform": {
                    "location": {
                        "x": 978.26123046875,
                        "y": 3276.521240234375,
                        "z": 368.3207702636719
                    },
                    "rotation": {
                        "roll": -0.01947025954723358,
                        "pitch": 1.5303789377212524,
                        "yaw": 93.54772186279297
                    }
                },
                "velocity": {
                    "x": -0.07815281301736832,
                    "y": 0.9118661880493164,
                    "z": 0.046836163848638535
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0975677967071533,
                "transform": {
                    "location": {
                        "x": 975.4660034179688,
                        "y": 3306.292724609375,
                        "z": 368.93798828125
                    },
                    "rotation": {
                        "roll": -0.007720977999269962,
                        "pitch": 1.180222511291504,
                        "yaw": 97.2203598022461
                    }
                },
                "velocity": {
                    "x": -0.15565021336078644,
                    "y": 1.0860369205474854,
                    "z": 0.03085433878004551
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.270354151725769,
                "transform": {
                    "location": {
                        "x": 973.3458862304688,
                        "y": 3321.120849609375,
                        "z": 369.1942443847656
                    },
                    "rotation": {
                        "roll": -0.009429949335753918,
                        "pitch": 1.1302118301391602,
                        "yaw": 99.0998306274414
                    }
                },
                "velocity": {
                    "x": -0.2182323932647705,
                    "y": 1.251043677330017,
                    "z": 0.03261774033308029
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09073442220687866,
        "expert_target_speed": 2.675929520473407,
        "target_point": [
            51.37785707602955,
            2.498993098410529
        ],
        "target_point_next": [
            102.26042401803421,
            5.957226109595929
        ]
    },
    "20": {
        "acceleration": [
            -0.6138226389884949,
            6.57740592956543,
            0.12317411601543427
        ],
        "angular_velocity": [
            0.7305929064750671,
            0.049264874309301376,
            0.16761060059070587
        ],
        "forward_vector": [
            -0.09165921062231064,
            0.9953413605690002,
            0.0299041960388422
        ],
        "right_vector": [
            -0.9957863092422485,
            -0.09170408546924591,
            0.0001299055147683248
        ],
        "location": [
            973.8029174804688,
            3291.8369140625,
            368.6612854003906
        ],
        "rotation": [
            -0.007446368224918842,
            1.713639736175537,
            95.26142883300781
        ],
        "velocity": [
            -0.2642717957496643,
            2.853210926055908,
            0.05805132910609245
        ],
        "speed": 2.8654235586721843,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.263461112976074,
        "front_vehicle_info": {
            "id": 4052,
            "type": "vehicle.ford.mustang",
            "location": [
                972.223876953125,
                3306.010009765625,
                368.93756103515625
            ],
            "velocity": [
                -0.28792810440063477,
                1.9266811609268188,
                0.03472497686743736
            ],
            "speed_kmh": 7.014190254261345,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.9281005859375,
                        "y": 3364.639404296875,
                        "z": 369.8101806640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.7194213867188,
                        "y": 3364.122314453125,
                        "z": 369.8101501464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9483861923217773,
                "transform": {
                    "location": {
                        "x": 972.223876953125,
                        "y": 3306.010009765625,
                        "z": 368.93756103515625
                    },
                    "rotation": {
                        "roll": -0.002166783669963479,
                        "pitch": 1.082304835319519,
                        "yaw": 97.35961151123047
                    }
                },
                "velocity": {
                    "x": -0.28792810440063477,
                    "y": 1.9266811609268188,
                    "z": 0.03472497686743736
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.116787910461426,
                "transform": {
                    "location": {
                        "x": 970.1177368164062,
                        "y": 3320.71826171875,
                        "z": 369.2023620605469
                    },
                    "rotation": {
                        "roll": 0.005108685232698917,
                        "pitch": 0.7385278344154358,
                        "yaw": 99.10677337646484
                    }
                },
                "velocity": {
                    "x": -0.3505878746509552,
                    "y": 2.0872881412506104,
                    "z": 0.03326714411377907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.114675998687744,
                "transform": {
                    "location": {
                        "x": 978.9186401367188,
                        "y": 3262.0224609375,
                        "z": 368.00103759765625
                    },
                    "rotation": {
                        "roll": 0.0017252470133826137,
                        "pitch": 1.4741255044937134,
                        "yaw": 91.99658966064453
                    }
                },
                "velocity": {
                    "x": -0.09405998140573502,
                    "y": 2.1119940280914307,
                    "z": 0.04988332465291023
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8812222480773926,
                "transform": {
                    "location": {
                        "x": 978.2333374023438,
                        "y": 3276.880126953125,
                        "z": 368.3326721191406
                    },
                    "rotation": {
                        "roll": -0.01440431922674179,
                        "pitch": 1.7063177824020386,
                        "yaw": 93.77073669433594
                    }
                },
                "velocity": {
                    "x": -0.1489633023738861,
                    "y": 1.8745583295822144,
                    "z": 0.05327419191598892
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2193102836608887,
                "transform": {
                    "location": {
                        "x": 975.4066772460938,
                        "y": 3306.7119140625,
                        "z": 368.9470520019531
                    },
                    "rotation": {
                        "roll": -0.0034484209027141333,
                        "pitch": 1.2159785032272339,
                        "yaw": 97.39120483398438
                    }
                },
                "velocity": {
                    "x": -0.30945128202438354,
                    "y": 2.1972358226776123,
                    "z": 0.04162712022662163
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.650434970855713,
                "transform": {
                    "location": {
                        "x": 973.263671875,
                        "y": 3321.606201171875,
                        "z": 369.20355224609375
                    },
                    "rotation": {
                        "roll": -0.0037231193855404854,
                        "pitch": 1.2074612379074097,
                        "yaw": 99.2879409790039
                    }
                },
                "velocity": {
                    "x": -0.4411618411540985,
                    "y": 2.613091468811035,
                    "z": 0.04398208484053612
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09117069840431213,
        "expert_target_speed": 3.9981611303953364,
        "target_point": [
            50.83630776453256,
            2.4924454922604307
        ],
        "target_point_next": [
            101.71929894408122,
            5.94443083249751
        ]
    },
    "25": {
        "acceleration": [
            -0.6398957967758179,
            6.8250274658203125,
            0.1501147449016571
        ],
        "angular_velocity": [
            0.3467015027999878,
            0.032603997737169266,
            0.09815236926078796
        ],
        "forward_vector": [
            -0.09199405461549759,
            0.995213508605957,
            0.032973505556583405
        ],
        "right_vector": [
            -0.9957544803619385,
            -0.09204928576946259,
            0.00015757417713757604
        ],
        "location": [
            973.714599609375,
            3292.7900390625,
            368.6800842285156
        ],
        "rotation": [
            -0.009033246897161007,
            1.8895853757858276,
            95.28121185302734
        ],
        "velocity": [
            -0.4313426613807678,
            4.640518665313721,
            0.09522514045238495
        ],
        "speed": 4.6605225001765715,
        "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": 13.929512977600098,
        "front_vehicle_info": {
            "id": 4052,
            "type": "vehicle.ford.mustang",
            "location": [
                972.1359252929688,
                3306.627197265625,
                368.94873046875
            ],
            "velocity": [
                -0.4231724143028259,
                2.883066415786743,
                0.05098673701286316
            ],
            "speed_kmh": 10.491851819698233,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.7860100269317627,
                "transform": {
                    "location": {
                        "x": 976.166748046875,
                        "y": 3276.459228515625,
                        "z": 368.7200012207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2882555723190308,
                        "yaw": 99.8551025390625
                    }
                },
                "velocity": {
                    "x": -0.47118163108825684,
                    "y": 2.712301254272461,
                    "z": -0.4280916452407837
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.2592163085938,
                        "y": 3362.58203125,
                        "z": 369.7849426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.0505981445312,
                        "y": 3362.065185546875,
                        "z": 369.784912109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9144034385681152,
                "transform": {
                    "location": {
                        "x": 972.1359252929688,
                        "y": 3306.627197265625,
                        "z": 368.94873046875
                    },
                    "rotation": {
                        "roll": 0.004575470462441444,
                        "pitch": 1.0655299425125122,
                        "yaw": 97.659912109375
                    }
                },
                "velocity": {
                    "x": -0.4231724143028259,
                    "y": 2.883066415786743,
                    "z": 0.05098673701286316
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.32399845123291,
                "transform": {
                    "location": {
                        "x": 970.0015258789062,
                        "y": 3321.40576171875,
                        "z": 369.21295166015625
                    },
                    "rotation": {
                        "roll": 0.006224471144378185,
                        "pitch": 0.7741814255714417,
                        "yaw": 99.27841186523438
                    }
                },
                "velocity": {
                    "x": -0.5612139701843262,
                    "y": 3.27585506439209,
                    "z": 0.05271850526332855
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6235101222991943,
                "transform": {
                    "location": {
                        "x": 978.885986328125,
                        "y": 3262.733642578125,
                        "z": 368.0174865722656
                    },
                    "rotation": {
                        "roll": 0.005263211205601692,
                        "pitch": 1.533438801765442,
                        "yaw": 92.28157806396484
                    }
                },
                "velocity": {
                    "x": -0.16765739023685455,
                    "y": 3.6186745166778564,
                    "z": 0.08313413709402084
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.8839080333709717,
                "transform": {
                    "location": {
                        "x": 978.1875610351562,
                        "y": 3277.4638671875,
                        "z": 368.34722900390625
                    },
                    "rotation": {
                        "roll": -0.011016853153705597,
                        "pitch": 1.733290195465088,
                        "yaw": 94.02749633789062
                    }
                },
                "velocity": {
                    "x": -0.23125389218330383,
                    "y": 2.873849391937256,
                    "z": 0.06661081314086914
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.635303020477295,
                "transform": {
                    "location": {
                        "x": 975.30419921875,
                        "y": 3307.43115234375,
                        "z": 368.9603576660156
                    },
                    "rotation": {
                        "roll": -0.0004883140209130943,
                        "pitch": 1.24663245677948,
                        "yaw": 97.6980972290039
                    }
                },
                "velocity": {
                    "x": -0.5147584676742554,
                    "y": 3.598083019256592,
                    "z": 0.06519944965839386
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.174621105194092,
                "transform": {
                    "location": {
                        "x": 973.1196899414062,
                        "y": 3322.45703125,
                        "z": 369.2176513671875
                    },
                    "rotation": {
                        "roll": 0.0001659377448959276,
                        "pitch": 1.2400275468826294,
                        "yaw": 99.44163513183594
                    }
                },
                "velocity": {
                    "x": -0.6978112459182739,
                    "y": 4.115352630615234,
                    "z": 0.066275954246521
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09565429389476776,
        "expert_target_speed": 5.707751518879777,
        "target_point": [
            49.879954194028535,
            2.474741664628332
        ],
        "target_point_next": [
            100.7641299764094,
            5.9092211179084195
        ]
    },
    "30": {
        "acceleration": [
            0.009255409240722656,
            -0.22975921630859375,
            -0.020866841077804565
        ],
        "angular_velocity": [
            -2.085723400115967,
            -0.11171358078718185,
            3.445913553237915
        ],
        "forward_vector": [
            -0.09264213591814041,
            0.9952417612075806,
            0.030186237767338753
        ],
        "right_vector": [
            -0.9956948757171631,
            -0.09269116073846817,
            0.00022573395108338445
        ],
        "location": [
            973.5912475585938,
            3294.115478515625,
            368.707763671875
        ],
        "rotation": [
            -0.01293949969112873,
            1.7298067808151245,
            95.31805419921875
        ],
        "velocity": [
            -0.5131632685661316,
            5.5026984214782715,
            0.11018311977386475
        ],
        "speed": 5.526574568206326,
        "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": 13.4248046875,
        "front_vehicle_info": {
            "id": 4052,
            "type": "vehicle.ford.mustang",
            "location": [
                972.0178833007812,
                3307.4453125,
                368.9635314941406
            ],
            "velocity": [
                -0.5338319540023804,
                3.620317220687866,
                0.06520488858222961
            ],
            "speed_kmh": 13.176159840514803,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4469218254089355,
                "transform": {
                    "location": {
                        "x": 976.0625610351562,
                        "y": 3277.0693359375,
                        "z": 368.3359375
                    },
                    "rotation": {
                        "roll": 0.13105826079845428,
                        "pitch": 1.2549242973327637,
                        "yaw": 99.72775268554688
                    }
                },
                "velocity": {
                    "x": -0.04358483850955963,
                    "y": 0.28506824374198914,
                    "z": -1.4178924560546875
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.925066947937012,
                "transform": {
                    "location": {
                        "x": 973.5465698242188,
                        "y": 3360.86865234375,
                        "z": 369.76324462890625
                    },
                    "rotation": {
                        "roll": -0.025085467845201492,
                        "pitch": -0.8559524416923523,
                        "yaw": -80.4958724975586
                    }
                },
                "velocity": {
                    "x": 1.156690239906311,
                    "y": -6.827238082885742,
                    "z": -0.08625273406505585
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.923928737640381,
                "transform": {
                    "location": {
                        "x": 970.3379516601562,
                        "y": 3360.351806640625,
                        "z": 369.76318359375
                    },
                    "rotation": {
                        "roll": -0.026092529296875,
                        "pitch": -0.8564715385437012,
                        "yaw": -80.49430847167969
                    }
                },
                "velocity": {
                    "x": 1.1566113233566284,
                    "y": -6.826107025146484,
                    "z": -0.08546073734760284
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6600444316864014,
                "transform": {
                    "location": {
                        "x": 972.0178833007812,
                        "y": 3307.4453125,
                        "z": 368.9635314941406
                    },
                    "rotation": {
                        "roll": 0.0089769521728158,
                        "pitch": 1.0463371276855469,
                        "yaw": 97.92720031738281
                    }
                },
                "velocity": {
                    "x": -0.5338319540023804,
                    "y": 3.620317220687866,
                    "z": 0.06520488858222961
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.43475866317749,
                "transform": {
                    "location": {
                        "x": 969.8383178710938,
                        "y": 3322.3671875,
                        "z": 369.2283935546875
                    },
                    "rotation": {
                        "roll": 0.006581608671694994,
                        "pitch": 0.7997877597808838,
                        "yaw": 99.44627380371094
                    }
                },
                "velocity": {
                    "x": -0.7486746311187744,
                    "y": 4.370527744293213,
                    "z": 0.0711219385266304
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.037664890289307,
                "transform": {
                    "location": {
                        "x": 978.8338623046875,
                        "y": 3263.826904296875,
                        "z": 368.04254150390625
                    },
                    "rotation": {
                        "roll": 0.0043611591681838036,
                        "pitch": 1.5412662029266357,
                        "yaw": 92.56188201904297
                    }
                },
                "velocity": {
                    "x": -0.2424197942018509,
                    "y": 5.030527591705322,
                    "z": 0.11443149298429489
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.266076564788818,
                "transform": {
                    "location": {
                        "x": 978.1156616210938,
                        "y": 3278.365234375,
                        "z": 368.36737060546875
                    },
                    "rotation": {
                        "roll": -0.010986234992742538,
                        "pitch": 1.853153109550476,
                        "yaw": 94.29712677001953
                    }
                },
                "velocity": {
                    "x": -0.3456595838069916,
                    "y": 4.250964164733887,
                    "z": 0.09609588235616684
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.039269924163818,
                "transform": {
                    "location": {
                        "x": 975.147216796875,
                        "y": 3308.514892578125,
                        "z": 368.9798889160156
                    },
                    "rotation": {
                        "roll": -0.0008849319419823587,
                        "pitch": 1.245450735092163,
                        "yaw": 98.0376968383789
                    }
                },
                "velocity": {
                    "x": -0.7252660989761353,
                    "y": 4.986001968383789,
                    "z": 0.08952371031045914
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.379946231842041,
                "transform": {
                    "location": {
                        "x": 972.9151611328125,
                        "y": 3323.66015625,
                        "z": 369.2374572753906
                    },
                    "rotation": {
                        "roll": 0.001511084963567555,
                        "pitch": 1.2021132707595825,
                        "yaw": 99.57138061523438
                    }
                },
                "velocity": {
                    "x": -0.9027592539787292,
                    "y": 5.302950382232666,
                    "z": 0.08697700500488281
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0974319651722908,
        "expert_target_speed": 6.496296422520442,
        "target_point": [
            48.55037054872329,
            2.4426468449507217
        ],
        "target_point_next": [
            99.43674747709537,
            5.844357777831345
        ]
    },
    "35": {
        "acceleration": [
            -0.7948219776153564,
            8.296289443969727,
            0.1278868317604065
        ],
        "angular_velocity": [
            0.99686199426651,
            0.0699387863278389,
            -1.3109300136566162
        ],
        "forward_vector": [
            -0.09174662828445435,
            0.995238184928894,
            0.032916437834501266
        ],
        "right_vector": [
            -0.9957771897315979,
            -0.09180299937725067,
            0.0002022888365900144
        ],
        "location": [
            973.4412841796875,
            3295.726806640625,
            368.7393798828125
        ],
        "rotation": [
            -0.01159658096730709,
            1.8863136768341064,
            95.26696014404297
        ],
        "velocity": [
            -0.6986138224601746,
            7.526243209838867,
            0.1483759582042694
        ],
        "speed": 7.558597629625357,
        "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": 12.813790321350098,
        "front_vehicle_info": {
            "id": 4052,
            "type": "vehicle.ford.mustang",
            "location": [
                971.8724975585938,
                3308.44189453125,
                368.9815979003906
            ],
            "velocity": [
                -0.639832615852356,
                4.320533752441406,
                0.07747399806976318
            ],
            "speed_kmh": 15.726026285702744,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2536364197731018,
                "transform": {
                    "location": {
                        "x": 976.0625,
                        "y": 3277.07080078125,
                        "z": 368.3003845214844
                    },
                    "rotation": {
                        "roll": 0.1433250904083252,
                        "pitch": 1.2556004524230957,
                        "yaw": 99.72164154052734
                    }
                },
                "velocity": {
                    "x": 0.0009540137252770364,
                    "y": -0.005824522115290165,
                    "z": 0.25356772541999817
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.735350608825684,
                "transform": {
                    "location": {
                        "x": 973.8325805664062,
                        "y": 3359.184814453125,
                        "z": 369.74237060546875
                    },
                    "rotation": {
                        "roll": -0.012939453125,
                        "pitch": -0.7384936809539795,
                        "yaw": -80.36820983886719
                    }
                },
                "velocity": {
                    "x": 1.1314648389816284,
                    "y": -6.639127254486084,
                    "z": -0.08200948685407639
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.7340989112854,
                "transform": {
                    "location": {
                        "x": 970.6239013671875,
                        "y": 3358.668701171875,
                        "z": 369.74237060546875
                    },
                    "rotation": {
                        "roll": -0.015289288945496082,
                        "pitch": -0.7389171719551086,
                        "yaw": -80.36863708496094
                    }
                },
                "velocity": {
                    "x": 1.1308554410934448,
                    "y": -6.63796329498291,
                    "z": -0.08182798326015472
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.368340492248535,
                "transform": {
                    "location": {
                        "x": 971.8724975585938,
                        "y": 3308.44189453125,
                        "z": 368.9815979003906
                    },
                    "rotation": {
                        "roll": 0.008549166843295097,
                        "pitch": 1.036392331123352,
                        "yaw": 98.14766693115234
                    }
                },
                "velocity": {
                    "x": -0.639832615852356,
                    "y": 4.320533752441406,
                    "z": 0.07747399806976318
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.192633152008057,
                "transform": {
                    "location": {
                        "x": 969.6303100585938,
                        "y": 3323.587646484375,
                        "z": 369.24835205078125
                    },
                    "rotation": {
                        "roll": 0.008506938815116882,
                        "pitch": 0.8209272027015686,
                        "yaw": 99.57302856445312
                    }
                },
                "velocity": {
                    "x": -0.8761207461357117,
                    "y": 5.117482662200928,
                    "z": 0.08497987687587738
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.648969650268555,
                "transform": {
                    "location": {
                        "x": 978.7672729492188,
                        "y": 3265.18212890625,
                        "z": 368.0735778808594
                    },
                    "rotation": {
                        "roll": 0.011015266180038452,
                        "pitch": 1.445841670036316,
                        "yaw": 92.73336791992188
                    }
                },
                "velocity": {
                    "x": -0.2790474593639374,
                    "y": 5.640641212463379,
                    "z": 0.12711520493030548
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.359134197235107,
                "transform": {
                    "location": {
                        "x": 978.016357421875,
                        "y": 3279.58935546875,
                        "z": 368.3951110839844
                    },
                    "rotation": {
                        "roll": -0.004089350812137127,
                        "pitch": 1.8463571071624756,
                        "yaw": 94.5298843383789
                    }
                },
                "velocity": {
                    "x": -0.44082579016685486,
                    "y": 5.339663505554199,
                    "z": 0.11825906485319138
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.394135475158691,
                "transform": {
                    "location": {
                        "x": 974.954345703125,
                        "y": 3309.83056640625,
                        "z": 369.0035705566406
                    },
                    "rotation": {
                        "roll": 0.004889516159892082,
                        "pitch": 1.108744502067566,
                        "yaw": 98.26148986816406
                    }
                },
                "velocity": {
                    "x": -0.7854487299919128,
                    "y": 5.335792064666748,
                    "z": 0.0953407809138298
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.7473978996276855,
                "transform": {
                    "location": {
                        "x": 972.6792602539062,
                        "y": 3325.041259765625,
                        "z": 369.25982666015625
                    },
                    "rotation": {
                        "roll": 0.003916759509593248,
                        "pitch": 1.051876425743103,
                        "yaw": 99.67792510986328
                    }
                },
                "velocity": {
                    "x": -0.969269335269928,
                    "y": 5.66433572769165,
                    "z": 0.09167730063199997
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1073971763253212,
        "expert_target_speed": 8.185010577660407,
        "target_point": [
            46.92987875145856,
            2.4845891832209954
        ],
        "target_point_next": [
            97.81319726286685,
            5.931746190642025
        ]
    },
    "40": {
        "acceleration": [
            0.1010441780090332,
            -1.2166595458984375,
            -0.04018247127532959
        ],
        "angular_velocity": [
            -1.9613277912139893,
            -0.06755779683589935,
            2.277273416519165
        ],
        "forward_vector": [
            -0.09275509417057037,
            0.9951633214950562,
            0.03234882652759552
        ],
        "right_vector": [
            -0.9956830739974976,
            -0.09281739592552185,
            0.00042641532490961254
        ],
        "location": [
            973.2470092773438,
            3297.81640625,
            368.7804260253906
        ],
        "rotation": [
            -0.024444591253995895,
            1.8537746667861938,
            95.32492065429688
        ],
        "velocity": [
            -0.8225722908973694,
            8.822037696838379,
            0.17287397384643555
        ],
        "speed": 8.860303284774712,
        "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": 11.903916358947754,
        "front_vehicle_info": {
            "id": 4052,
            "type": "vehicle.ford.mustang",
            "location": [
                971.6993408203125,
                3309.6171875,
                369.0029296875
            ],
            "velocity": [
                -0.7531843185424805,
                5.0682549476623535,
                0.09433126449584961
            ],
            "speed_kmh": 18.44921613854747,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.06173675134778023,
                "transform": {
                    "location": {
                        "x": 976.0625610351562,
                        "y": 3277.0703125,
                        "z": 368.3394470214844
                    },
                    "rotation": {
                        "roll": 0.13403193652629852,
                        "pitch": 1.2817327976226807,
                        "yaw": 99.72142028808594
                    }
                },
                "velocity": {
                    "x": 0.00029971118783578277,
                    "y": -0.0014663084875792265,
                    "z": 0.06171860918402672
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.813844203948975,
                "transform": {
                    "location": {
                        "x": 974.1016845703125,
                        "y": 3357.607666015625,
                        "z": 369.7223815917969
                    },
                    "rotation": {
                        "roll": -0.008483910001814365,
                        "pitch": -0.9039003252983093,
                        "yaw": -80.3289566040039
                    }
                },
                "velocity": {
                    "x": 0.9793519973754883,
                    "y": -5.7302727699279785,
                    "z": -0.07504376024007797
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.812061309814453,
                "transform": {
                    "location": {
                        "x": 970.8929443359375,
                        "y": 3357.091796875,
                        "z": 369.7223815917969
                    },
                    "rotation": {
                        "roll": -0.01080320868641138,
                        "pitch": -0.9039618372917175,
                        "yaw": -80.32820129394531
                    }
                },
                "velocity": {
                    "x": 0.979021430015564,
                    "y": -5.728514671325684,
                    "z": -0.0754425972700119
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.124782085418701,
                "transform": {
                    "location": {
                        "x": 971.6993408203125,
                        "y": 3309.6171875,
                        "z": 369.0029296875
                    },
                    "rotation": {
                        "roll": 0.010348718613386154,
                        "pitch": 1.0310306549072266,
                        "yaw": 98.30056762695312
                    }
                },
                "velocity": {
                    "x": -0.7531843185424805,
                    "y": 5.0682549476623535,
                    "z": 0.09433126449584961
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.807938098907471,
                "transform": {
                    "location": {
                        "x": 969.4006958007812,
                        "y": 3324.93017578125,
                        "z": 369.2698669433594
                    },
                    "rotation": {
                        "roll": 0.009143914096057415,
                        "pitch": 0.8529198169708252,
                        "yaw": 99.62386322021484
                    }
                },
                "velocity": {
                    "x": -0.9811655282974243,
                    "y": 5.723713397979736,
                    "z": 0.09257236123085022
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9893676042556763,
                "transform": {
                    "location": {
                        "x": 978.7191162109375,
                        "y": 3266.14111328125,
                        "z": 368.0943603515625
                    },
                    "rotation": {
                        "roll": 0.012353216297924519,
                        "pitch": 0.9431602954864502,
                        "yaw": 92.82081604003906
                    }
                },
                "velocity": {
                    "x": -0.10104919224977493,
                    "y": 1.9862834215164185,
                    "z": 0.04528743773698807
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.897796630859375,
                "transform": {
                    "location": {
                        "x": 977.9060668945312,
                        "y": 3280.931396484375,
                        "z": 368.4254150390625
                    },
                    "rotation": {
                        "roll": 0.0006864327588118613,
                        "pitch": 1.5939406156539917,
                        "yaw": 94.69229125976562
                    }
                },
                "velocity": {
                    "x": -0.48856353759765625,
                    "y": 5.876102924346924,
                    "z": 0.12932415306568146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.135988712310791,
                "transform": {
                    "location": {
                        "x": 974.7333374023438,
                        "y": 3311.32275390625,
                        "z": 369.0299377441406
                    },
                    "rotation": {
                        "roll": 0.005572679918259382,
                        "pitch": 1.2504231929779053,
                        "yaw": 98.41276550292969
                    }
                },
                "velocity": {
                    "x": -1.0491125583648682,
                    "y": 7.057360649108887,
                    "z": 0.12393045425415039
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.693419456481934,
                "transform": {
                    "location": {
                        "x": 972.404296875,
                        "y": 3326.6513671875,
                        "z": 369.2860107421875
                    },
                    "rotation": {
                        "roll": 0.0192403681576252,
                        "pitch": 1.2793694734573364,
                        "yaw": 99.680419921875
                    }
                },
                "velocity": {
                    "x": -1.2795246839523315,
                    "y": 7.585268974304199,
                    "z": 0.12334787100553513
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11180956661701202,
        "expert_target_speed": 9.132161779559832,
        "target_point": [
            44.83375928322063,
            2.437554269808828
        ],
        "target_point_next": [
            95.72054217514922,
            5.833186917337388
        ]
    },
    "45": {
        "acceleration": [
            -0.35753369331359863,
            3.619823455810547,
            0.07481545209884644
        ],
        "angular_velocity": [
            -0.48790931701660156,
            -0.06002509966492653,
            -0.6746466755867004
        ],
        "forward_vector": [
            -0.09281397610902786,
            0.9952160120010376,
            0.030506644397974014
        ],
        "right_vector": [
            -0.9956778287887573,
            -0.09287294745445251,
            0.0005185417248867452
        ],
        "location": [
            973.0262451171875,
            3300.177978515625,
            368.8265075683594
        ],
        "rotation": [
            -0.029724087566137314,
            1.7481731176376343,
            95.3280029296875
        ],
        "velocity": [
            -0.9476596713066101,
            10.118220329284668,
            0.19382110238075256
        ],
        "speed": 10.162501733558056,
        "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": 10.862375259399414,
        "front_vehicle_info": {
            "id": 4052,
            "type": "vehicle.ford.mustang",
            "location": [
                971.504638671875,
                3310.931396484375,
                369.0262756347656
            ],
            "velocity": [
                -0.8264945149421692,
                5.550970554351807,
                0.09708157926797867
            ],
            "speed_kmh": 20.206807411503757,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0025462969206273556,
                "transform": {
                    "location": {
                        "x": 976.0625610351562,
                        "y": 3277.06982421875,
                        "z": 368.34375
                    },
                    "rotation": {
                        "roll": 0.13312016427516937,
                        "pitch": 1.2845126390457153,
                        "yaw": 99.72113800048828
                    }
                },
                "velocity": {
                    "x": 9.10978124011308e-05,
                    "y": -1.737505226628855e-05,
                    "z": -0.002544607501477003
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.8591742515563965,
                "transform": {
                    "location": {
                        "x": 974.3424072265625,
                        "y": 3356.1962890625,
                        "z": 369.70416259765625
                    },
                    "rotation": {
                        "roll": 0.0003361525887157768,
                        "pitch": -0.7980324029922485,
                        "yaw": -80.33079528808594
                    }
                },
                "velocity": {
                    "x": 0.9731449484825134,
                    "y": -5.777324199676514,
                    "z": -0.0737515315413475
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.8577728271484375,
                "transform": {
                    "location": {
                        "x": 971.133544921875,
                        "y": 3355.680908203125,
                        "z": 369.70416259765625
                    },
                    "rotation": {
                        "roll": 0.00016997074999380857,
                        "pitch": -0.7969327569007874,
                        "yaw": -80.33121490478516
                    }
                },
                "velocity": {
                    "x": 0.9728342294692993,
                    "y": -5.775958061218262,
                    "z": -0.0735158920288086
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.613002300262451,
                "transform": {
                    "location": {
                        "x": 971.504638671875,
                        "y": 3310.931396484375,
                        "z": 369.0262756347656
                    },
                    "rotation": {
                        "roll": 0.007403592113405466,
                        "pitch": 1.0147680044174194,
                        "yaw": 98.39655303955078
                    }
                },
                "velocity": {
                    "x": -0.8264945149421692,
                    "y": 5.550970554351807,
                    "z": 0.09708157926797867
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.039170742034912,
                "transform": {
                    "location": {
                        "x": 969.1441040039062,
                        "y": 3326.4423828125,
                        "z": 369.29486083984375
                    },
                    "rotation": {
                        "roll": 0.00044616564991883934,
                        "pitch": 0.7885316610336304,
                        "yaw": 99.60334777832031
                    }
                },
                "velocity": {
                    "x": -1.1530382633209229,
                    "y": 6.94317626953125,
                    "z": 0.11282800137996674
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1586672067642212,
                "transform": {
                    "location": {
                        "x": 978.710205078125,
                        "y": 3266.319091796875,
                        "z": 368.09881591796875
                    },
                    "rotation": {
                        "roll": 0.012733759358525276,
                        "pitch": 1.1474443674087524,
                        "yaw": 92.87022399902344
                    }
                },
                "velocity": {
                    "x": -0.060032498091459274,
                    "y": 1.1567829847335815,
                    "z": 0.027547426521778107
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.472225666046143,
                "transform": {
                    "location": {
                        "x": 977.7631225585938,
                        "y": 3282.632080078125,
                        "z": 368.4617919921875
                    },
                    "rotation": {
                        "roll": -0.009887751191854477,
                        "pitch": 1.84187650680542,
                        "yaw": 94.82133483886719
                    }
                },
                "velocity": {
                    "x": -0.6362702250480652,
                    "y": 7.443351745605469,
                    "z": 0.16073031723499298
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.164661407470703,
                "transform": {
                    "location": {
                        "x": 974.4462890625,
                        "y": 3313.22998046875,
                        "z": 369.0631103515625
                    },
                    "rotation": {
                        "roll": 0.002733237110078335,
                        "pitch": 1.174922227859497,
                        "yaw": 98.55404663085938
                    }
                },
                "velocity": {
                    "x": -1.2195897102355957,
                    "y": 8.07186222076416,
                    "z": 0.1390707790851593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.380379676818848,
                "transform": {
                    "location": {
                        "x": 972.0617065429688,
                        "y": 3328.6982421875,
                        "z": 369.31878662109375
                    },
                    "rotation": {
                        "roll": 0.019766295328736305,
                        "pitch": 1.1053293943405151,
                        "yaw": 99.47671508789062
                    }
                },
                "velocity": {
                    "x": -1.3757901191711426,
                    "y": 8.265624046325684,
                    "z": 0.13197165727615356
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3308592736721039,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12271676957607269,
        "expert_target_speed": 9.97072499729841,
        "target_point": [
            42.46202381661019,
            2.434586878674532
        ],
        "target_point_next": [
            93.34899202695144,
            5.827441211969287
        ]
    },
    "50": {
        "acceleration": [
            0.008974075317382812,
            -0.4160308837890625,
            -0.03375053405761719
        ],
        "angular_velocity": [
            -1.5156793594360352,
            -0.07794637978076935,
            2.1372389793395996
        ],
        "forward_vector": [
            -0.09389637410640717,
            0.9952792525291443,
            0.024549519643187523
        ],
        "right_vector": [
            -0.9955774545669556,
            -0.09394146502017975,
            0.0006874203099869192
        ],
        "location": [
            972.7855834960938,
            3302.7392578125,
            368.87640380859375
        ],
        "rotation": [
            -0.039398159831762314,
            1.4067251682281494,
            95.38943481445312
        ],
        "velocity": [
            -0.9683482050895691,
            10.26578140258789,
            0.19245994091033936
        ],
        "speed": 10.311351320366288,
        "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": 9.792704582214355,
        "front_vehicle_info": {
            "id": 4052,
            "type": "vehicle.ford.mustang",
            "location": [
                971.2824096679688,
                3312.414306640625,
                369.0523681640625
            ],
            "velocity": [
                -0.9459252953529358,
                6.25113582611084,
                0.1093241274356842
            ],
            "speed_kmh": 22.763681492071107,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.0626220703125,
                        "y": 3277.06982421875,
                        "z": 368.34307861328125
                    },
                    "rotation": {
                        "roll": 0.13234864175319672,
                        "pitch": 1.2843214273452759,
                        "yaw": 99.72089385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.455653667449951,
                "transform": {
                    "location": {
                        "x": 974.6041870117188,
                        "y": 3354.630615234375,
                        "z": 369.68359375
                    },
                    "rotation": {
                        "roll": 0.006851256359368563,
                        "pitch": -0.4962815046310425,
                        "yaw": -80.47561645507812
                    }
                },
                "velocity": {
                    "x": 1.2250864505767822,
                    "y": -7.353638648986816,
                    "z": -0.09968101233243942
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.454910755157471,
                "transform": {
                    "location": {
                        "x": 971.395263671875,
                        "y": 3354.115478515625,
                        "z": 369.6836242675781
                    },
                    "rotation": {
                        "roll": 0.004566579591482878,
                        "pitch": -0.49609026312828064,
                        "yaw": -80.47533416748047
                    }
                },
                "velocity": {
                    "x": 1.224936842918396,
                    "y": -7.352908611297607,
                    "z": -0.09980419278144836
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.323245048522949,
                "transform": {
                    "location": {
                        "x": 971.2824096679688,
                        "y": 3312.414306640625,
                        "z": 369.0523681640625
                    },
                    "rotation": {
                        "roll": 0.00731320446357131,
                        "pitch": 0.9998645186424255,
                        "yaw": 98.52564239501953
                    }
                },
                "velocity": {
                    "x": -0.9459252953529358,
                    "y": 6.25113582611084,
                    "z": 0.1093241274356842
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.106908798217773,
                "transform": {
                    "location": {
                        "x": 968.8299560546875,
                        "y": 3328.328125,
                        "z": 369.3251037597656
                    },
                    "rotation": {
                        "roll": 0.0040599810890853405,
                        "pitch": 0.7712512612342834,
                        "yaw": 99.4867172241211
                    }
                },
                "velocity": {
                    "x": -1.327049970626831,
                    "y": 7.9965643882751465,
                    "z": 0.1260124295949936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.187338352203369,
                "transform": {
                    "location": {
                        "x": 978.6881103515625,
                        "y": 3266.74951171875,
                        "z": 368.1090087890625
                    },
                    "rotation": {
                        "roll": 0.009099405258893967,
                        "pitch": 1.4129611253738403,
                        "yaw": 92.86585235595703
                    }
                },
                "velocity": {
                    "x": -0.1142912283539772,
                    "y": 2.183760643005371,
                    "z": 0.05075235292315483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.38473892211914,
                "transform": {
                    "location": {
                        "x": 977.5941162109375,
                        "y": 3284.6044921875,
                        "z": 368.50482177734375
                    },
                    "rotation": {
                        "roll": -0.007659994997084141,
                        "pitch": 1.6954987049102783,
                        "yaw": 94.92835998535156
                    }
                },
                "velocity": {
                    "x": -0.7190093994140625,
                    "y": 8.351920127868652,
                    "z": 0.17973273992538452
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.918070316314697,
                "transform": {
                    "location": {
                        "x": 974.1393432617188,
                        "y": 3315.25390625,
                        "z": 369.0974426269531
                    },
                    "rotation": {
                        "roll": 0.00020626996411010623,
                        "pitch": 0.9818601012229919,
                        "yaw": 98.64732360839844
                    }
                },
                "velocity": {
                    "x": -1.1889749765396118,
                    "y": 7.827142715454102,
                    "z": 0.13419963419437408
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.773762226104736,
                "transform": {
                    "location": {
                        "x": 971.7346801757812,
                        "y": 3330.672119140625,
                        "z": 369.3500671386719
                    },
                    "rotation": {
                        "roll": 0.01100324746221304,
                        "pitch": 0.84649258852005,
                        "yaw": 99.32992553710938
                    }
                },
                "velocity": {
                    "x": -1.2669358253479004,
                    "y": 7.668891906738281,
                    "z": 0.1197812408208847
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.13358840346336365,
        "expert_target_speed": 10.0,
        "target_point": [
            39.89204782763781,
            2.390049624009262
        ],
        "target_point_next": [
            90.78262290806083,
            5.72836688740178
        ]
    },
    "55": {
        "acceleration": [
            0.11365890502929688,
            -1.512603759765625,
            -0.024442672729492188
        ],
        "angular_velocity": [
            -0.9225233197212219,
            0.0262016449123621,
            -1.8353826999664307
        ],
        "forward_vector": [
            -0.0944339781999588,
            0.9953436255455017,
            0.019322263076901436
        ],
        "right_vector": [
            -0.9955277442932129,
            -0.09446696192026138,
            0.0007993308827280998
        ],
        "location": [
            972.5455322265625,
            3305.2724609375,
            368.9244689941406
        ],
        "rotation": [
            -0.04580684006214142,
            1.107153058052063,
            95.41976165771484
        ],
        "velocity": [
            -0.9512446522712708,
            9.992231369018555,
            0.1839050054550171
        ],
        "speed": 10.037407739076514,
        "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": 8.984037399291992,
        "front_vehicle_info": {
            "id": 4052,
            "type": "vehicle.ford.mustang",
            "location": [
                971.0235595703125,
                3314.125244140625,
                369.0818176269531
            ],
            "velocity": [
                -1.110533595085144,
                7.312798500061035,
                0.12464965879917145
            ],
            "speed_kmh": 26.631690562231935,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0019231414189562201,
                "transform": {
                    "location": {
                        "x": 976.0626220703125,
                        "y": 3277.06982421875,
                        "z": 368.3429260253906
                    },
                    "rotation": {
                        "roll": 0.1327793151140213,
                        "pitch": 1.2844033241271973,
                        "yaw": 99.72090148925781
                    }
                },
                "velocity": {
                    "x": 1.7390557331964374e-05,
                    "y": -7.455646937160054e-06,
                    "z": -0.0019230482866987586
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.405771255493164,
                "transform": {
                    "location": {
                        "x": 974.9414672851562,
                        "y": 3352.60107421875,
                        "z": 369.65625
                    },
                    "rotation": {
                        "roll": 0.003570826258510351,
                        "pitch": -0.5396122336387634,
                        "yaw": -80.56077575683594
                    }
                },
                "velocity": {
                    "x": 1.3755587339401245,
                    "y": -8.291717529296875,
                    "z": -0.11068181693553925
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.429728507995605,
                "transform": {
                    "location": {
                        "x": 971.7329711914062,
                        "y": 3352.083740234375,
                        "z": 369.65625
                    },
                    "rotation": {
                        "roll": 0.0008106399327516556,
                        "pitch": -0.5345715284347534,
                        "yaw": -80.56333923339844
                    }
                },
                "velocity": {
                    "x": 1.378970742225647,
                    "y": -8.315436363220215,
                    "z": -0.1108422726392746
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.39769172668457,
                "transform": {
                    "location": {
                        "x": 971.0235595703125,
                        "y": 3314.125244140625,
                        "z": 369.0818176269531
                    },
                    "rotation": {
                        "roll": 0.002324536209926009,
                        "pitch": 0.9958483576774597,
                        "yaw": 98.60516357421875
                    }
                },
                "velocity": {
                    "x": -1.110533595085144,
                    "y": 7.312798500061035,
                    "z": 0.12464965879917145
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.150113105773926,
                "transform": {
                    "location": {
                        "x": 968.492919921875,
                        "y": 3330.356689453125,
                        "z": 369.3563537597656
                    },
                    "rotation": {
                        "roll": 0.00516083836555481,
                        "pitch": 0.8570384383201599,
                        "yaw": 99.43737030029297
                    }
                },
                "velocity": {
                    "x": -1.335996389389038,
                    "y": 8.038886070251465,
                    "z": 0.125576913356781
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0036043981090188026,
                "transform": {
                    "location": {
                        "x": 978.66796875,
                        "y": 3267.13427734375,
                        "z": 368.1173400878906
                    },
                    "rotation": {
                        "roll": 0.011134722270071507,
                        "pitch": 1.0549567937850952,
                        "yaw": 92.7407455444336
                    }
                },
                "velocity": {
                    "x": -0.0005538584082387388,
                    "y": 0.003069896949455142,
                    "z": 0.0018057295819744468
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.848611831665039,
                "transform": {
                    "location": {
                        "x": 977.3948974609375,
                        "y": 3286.912109375,
                        "z": 368.5533752441406
                    },
                    "rotation": {
                        "roll": -0.008148138411343098,
                        "pitch": 1.817322015762329,
                        "yaw": 94.96048736572266
                    }
                },
                "velocity": {
                    "x": -0.8493613004684448,
                    "y": 9.809743881225586,
                    "z": 0.20654557645320892
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.26120662689209,
                "transform": {
                    "location": {
                        "x": 973.8558959960938,
                        "y": 3317.109619140625,
                        "z": 369.12847900390625
                    },
                    "rotation": {
                        "roll": -0.006164588965475559,
                        "pitch": 0.8737314343452454,
                        "yaw": 98.6907958984375
                    }
                },
                "velocity": {
                    "x": -1.1074349880218506,
                    "y": 7.175283432006836,
                    "z": 0.11838332563638687
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.127031326293945,
                "transform": {
                    "location": {
                        "x": 971.4141845703125,
                        "y": 3332.622314453125,
                        "z": 369.3805847167969
                    },
                    "rotation": {
                        "roll": 0.010021760128438473,
                        "pitch": 0.9368833303451538,
                        "yaw": 99.32789611816406
                    }
                },
                "velocity": {
                    "x": -1.3131358623504639,
                    "y": 8.01927661895752,
                    "z": 0.12457896769046783
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3280951678752899,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14924466609954834,
        "expert_target_speed": 9.902086779007915,
        "target_point": [
            37.34875628000144,
            2.3692136828118397
        ],
        "target_point_next": [
            88.2410919568377,
            5.680582512081065
        ]
    },
    "60": {
        "acceleration": [
            0.6570708751678467,
            -7.2573089599609375,
            -0.15722304582595825
        ],
        "angular_velocity": [
            -2.278660297393799,
            -0.2432096302509308,
            1.2180726528167725
        ],
        "forward_vector": [
            -0.09562310576438904,
            0.9953190088272095,
            0.014009731821715832
        ],
        "right_vector": [
            -0.9954153299331665,
            -0.09564369171857834,
            0.0008052615448832512
        ],
        "location": [
            972.3145141601562,
            3307.6904296875,
            368.9695739746094
        ],
        "rotation": [
            -0.04614261910319328,
            0.8027247786521912,
            95.48772430419922
        ],
        "velocity": [
            -0.863821268081665,
            8.987810134887695,
            0.16039882600307465
        ],
        "speed": 9.029225780983671,
        "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": 8.498588562011719,
        "front_vehicle_info": {
            "id": 4052,
            "type": "vehicle.ford.mustang",
            "location": [
                970.7329711914062,
                3316.039306640625,
                369.11444091796875
            ],
            "velocity": [
                -1.1917033195495605,
                7.838273525238037,
                0.13076849281787872
            ],
            "speed_kmh": 28.54593186740537,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.5701922974549234e-05,
                "transform": {
                    "location": {
                        "x": 976.0626220703125,
                        "y": 3277.06982421875,
                        "z": 368.34283447265625
                    },
                    "rotation": {
                        "roll": 0.13198734819889069,
                        "pitch": 1.284683346748352,
                        "yaw": 99.72098541259766
                    }
                },
                "velocity": {
                    "x": 2.7385018256609328e-05,
                    "y": -4.821285619982518e-05,
                    "z": 5.318415333022131e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.846141815185547,
                "transform": {
                    "location": {
                        "x": 975.2705078125,
                        "y": 3350.607177734375,
                        "z": 369.62945556640625
                    },
                    "rotation": {
                        "roll": 0.007876827381551266,
                        "pitch": -0.7990979552268982,
                        "yaw": -80.64415740966797
                    }
                },
                "velocity": {
                    "x": 1.269554853439331,
                    "y": -7.742042064666748,
                    "z": -0.10465643554925919
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.835517883300781,
                "transform": {
                    "location": {
                        "x": 972.0620727539062,
                        "y": 3350.0888671875,
                        "z": 369.62939453125
                    },
                    "rotation": {
                        "roll": 0.006004432216286659,
                        "pitch": -0.8027930855751038,
                        "yaw": -80.64677429199219
                    }
                },
                "velocity": {
                    "x": 1.2677981853485107,
                    "y": -7.731570243835449,
                    "z": -0.10418380796909332
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9294257164001465,
                "transform": {
                    "location": {
                        "x": 970.7329711914062,
                        "y": 3316.039306640625,
                        "z": 369.11444091796875
                    },
                    "rotation": {
                        "roll": 0.0015885134926065803,
                        "pitch": 0.9702897667884827,
                        "yaw": 98.64183807373047
                    }
                },
                "velocity": {
                    "x": -1.1917033195495605,
                    "y": 7.838273525238037,
                    "z": 0.13076849281787872
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.871467590332031,
                "transform": {
                    "location": {
                        "x": 968.1694946289062,
                        "y": 3332.32080078125,
                        "z": 369.3867492675781
                    },
                    "rotation": {
                        "roll": 0.0006853711092844605,
                        "pitch": 0.8993992805480957,
                        "yaw": 99.34575653076172
                    }
                },
                "velocity": {
                    "x": -1.2683944702148438,
                    "y": 7.767649173736572,
                    "z": 0.121678426861763
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001863304991275072,
                "transform": {
                    "location": {
                        "x": 978.6678466796875,
                        "y": 3267.13525390625,
                        "z": 368.1175842285156
                    },
                    "rotation": {
                        "roll": 0.009023473598062992,
                        "pitch": 1.2129937410354614,
                        "yaw": 92.74085998535156
                    }
                },
                "velocity": {
                    "x": 0.0003772134950850159,
                    "y": -0.0012693480821326375,
                    "z": 0.0013108664425089955
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.808858871459961,
                "transform": {
                    "location": {
                        "x": 977.1612548828125,
                        "y": 3289.486083984375,
                        "z": 368.6075439453125
                    },
                    "rotation": {
                        "roll": -0.051483187824487686,
                        "pitch": 1.7084555625915527,
                        "yaw": 95.2381362915039
                    }
                },
                "velocity": {
                    "x": -0.9978024363517761,
                    "y": 10.76041316986084,
                    "z": 0.22207345068454742
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.818008899688721,
                "transform": {
                    "location": {
                        "x": 973.5687866210938,
                        "y": 3318.954345703125,
                        "z": 369.15924072265625
                    },
                    "rotation": {
                        "roll": -0.005462712608277798,
                        "pitch": 0.9823929071426392,
                        "yaw": 98.86975860595703
                    }
                },
                "velocity": {
                    "x": -1.2074795961380005,
                    "y": 7.723148822784424,
                    "z": 0.12739209830760956
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.076157569885254,
                "transform": {
                    "location": {
                        "x": 971.0849609375,
                        "y": 3334.636474609375,
                        "z": 369.4120178222656
                    },
                    "rotation": {
                        "roll": 0.0060298508033156395,
                        "pitch": 0.8987572193145752,
                        "yaw": 99.26708221435547
                    }
                },
                "velocity": {
                    "x": -1.3004528284072876,
                    "y": 7.969766139984131,
                    "z": 0.1263934224843979
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16552917659282684,
        "expert_target_speed": 9.252131387784603,
        "target_point": [
            34.922560321960624,
            2.326197895910902
        ],
        "target_point_next": [
            85.81878714426735,
            5.577211494704899
        ]
    },
    "65": {
        "acceleration": [
            0.4004204273223877,
            -4.423980712890625,
            -0.0961264967918396
        ],
        "angular_velocity": [
            -0.2185649424791336,
            -0.02704613283276558,
            -0.2795126140117645
        ],
        "forward_vector": [
            -0.09628278017044067,
            0.9953073263168335,
            0.009643761441111565
        ],
        "right_vector": [
            -0.9953523278236389,
            -0.09629583358764648,
            0.0008969106711447239
        ],
        "location": [
            972.1145629882812,
            3309.761474609375,
            369.00738525390625
        ],
        "rotation": [
            -0.051391590386629105,
            0.5525554418563843,
            95.5254135131836
        ],
        "velocity": [
            -0.74971604347229,
            7.7288336753845215,
            0.13730859756469727
        ],
        "speed": 7.765110696416218,
        "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": 8.386283874511719,
        "front_vehicle_info": {
            "id": 4052,
            "type": "vehicle.ford.mustang",
            "location": [
                970.4345092773438,
                3317.9765625,
                369.1470642089844
            ],
            "velocity": [
                -1.195195198059082,
                7.65936803817749,
                0.127308651804924
            ],
            "speed_kmh": 27.91117350935131,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.759033203125,
                        "y": 3390.545166015625,
                        "z": 370.35162353515625
                    },
                    "rotation": {
                        "roll": -2.6681693299224207e-08,
                        "pitch": -0.55865478515625,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.5503540039062,
                        "y": 3390.029052734375,
                        "z": 370.35162353515625
                    },
                    "rotation": {
                        "roll": -2.6681693299224207e-08,
                        "pitch": -0.55865478515625,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.16633249819278717,
                "transform": {
                    "location": {
                        "x": 976.0626220703125,
                        "y": 3277.07275390625,
                        "z": 368.3428955078125
                    },
                    "rotation": {
                        "roll": 0.13305240869522095,
                        "pitch": 1.2859469652175903,
                        "yaw": 99.69451141357422
                    }
                },
                "velocity": {
                    "x": 0.01722654700279236,
                    "y": 0.16540391743183136,
                    "z": 0.0033597182482481003
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.08371639251709,
                "transform": {
                    "location": {
                        "x": 975.5894165039062,
                        "y": 3348.65673828125,
                        "z": 369.60296630859375
                    },
                    "rotation": {
                        "roll": 0.004819728434085846,
                        "pitch": -0.7532947063446045,
                        "yaw": -80.71707916259766
                    }
                },
                "velocity": {
                    "x": 1.3012593984603882,
                    "y": -7.977516174316406,
                    "z": -0.1114475205540657
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.085749626159668,
                "transform": {
                    "location": {
                        "x": 972.380615234375,
                        "y": 3348.140869140625,
                        "z": 369.60296630859375
                    },
                    "rotation": {
                        "roll": 0.0034617900382727385,
                        "pitch": -0.7521950602531433,
                        "yaw": -80.71704864501953
                    }
                },
                "velocity": {
                    "x": 1.3017693758010864,
                    "y": -7.979506492614746,
                    "z": -0.11052191257476807
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.753104209899902,
                "transform": {
                    "location": {
                        "x": 970.4345092773438,
                        "y": 3317.9765625,
                        "z": 369.1470642089844
                    },
                    "rotation": {
                        "roll": -0.0012512127868831158,
                        "pitch": 0.9380990862846375,
                        "yaw": 98.78815460205078
                    }
                },
                "velocity": {
                    "x": -1.195195198059082,
                    "y": 7.65936803817749,
                    "z": 0.127308651804924
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.096236228942871,
                "transform": {
                    "location": {
                        "x": 967.8475341796875,
                        "y": 3334.29150390625,
                        "z": 369.41790771484375
                    },
                    "rotation": {
                        "roll": 0.0009572173585183918,
                        "pitch": 0.8704870939254761,
                        "yaw": 99.2821273803711
                    }
                },
                "velocity": {
                    "x": -1.3019884824752808,
                    "y": 7.989895343780518,
                    "z": 0.12427827715873718
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005123547161929309,
                "transform": {
                    "location": {
                        "x": 978.6678466796875,
                        "y": 3267.135498046875,
                        "z": 368.11773681640625
                    },
                    "rotation": {
                        "roll": 0.008969437330961227,
                        "pitch": 1.2843555212020874,
                        "yaw": 92.74093627929688
                    }
                },
                "velocity": {
                    "x": -0.00019739734125323594,
                    "y": -0.00037049216916784644,
                    "z": -0.00029372976860031486
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.768040657043457,
                "transform": {
                    "location": {
                        "x": 976.8968505859375,
                        "y": 3292.2998046875,
                        "z": 368.66546630859375
                    },
                    "rotation": {
                        "roll": -0.07113657146692276,
                        "pitch": 1.6421823501586914,
                        "yaw": 95.43594360351562
                    }
                },
                "velocity": {
                    "x": -1.1465833187103271,
                    "y": 11.709634780883789,
                    "z": 0.23789216578006744
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.867153644561768,
                "transform": {
                    "location": {
                        "x": 973.2596435546875,
                        "y": 3320.927490234375,
                        "z": 369.1914367675781
                    },
                    "rotation": {
                        "roll": -0.005859389901161194,
                        "pitch": 0.9441369771957397,
                        "yaw": 98.89733123779297
                    }
                },
                "velocity": {
                    "x": -1.2188162803649902,
                    "y": 7.771131992340088,
                    "z": 0.12689681351184845
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.939950466156006,
                "transform": {
                    "location": {
                        "x": 970.7645874023438,
                        "y": 3336.60107421875,
                        "z": 369.44281005859375
                    },
                    "rotation": {
                        "roll": 0.005497705191373825,
                        "pitch": 0.8679735660552979,
                        "yaw": 99.2737045288086
                    }
                },
                "velocity": {
                    "x": -1.275015950202942,
                    "y": 7.835981845855713,
                    "z": 0.12057685852050781
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0007655852823518217,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.21630859375
                    },
                    "rotation": {
                        "roll": 0.0016601564129814506,
                        "pitch": 0.16706642508506775,
                        "yaw": 99.1390609741211
                    }
                },
                "velocity": {
                    "x": 0.00027860805857926607,
                    "y": -3.395378598725074e-06,
                    "z": -0.0007130826124921441
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.004354320000857115,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.70654296875,
                        "z": 370.1444091796875
                    },
                    "rotation": {
                        "roll": -0.005676249507814646,
                        "pitch": 0.7157491445541382,
                        "yaw": 99.13839721679688
                    }
                },
                "velocity": {
                    "x": 6.728313746862113e-05,
                    "y": -2.5656148864072748e-05,
                    "z": -0.004353724420070648
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.18652553856372833,
        "expert_target_speed": 8.35087644303892,
        "target_point": [
            32.84340709096625,
            2.3036345593066363
        ],
        "target_point_next": [
            83.74175987409517,
            5.521192349213494
        ]
    },
    "70": {
        "acceleration": [
            0.2794003486633301,
            -3.0399227142333984,
            -0.055585503578186035
        ],
        "angular_velocity": [
            0.19646140933036804,
            -0.04138603433966637,
            1.2129343748092651
        ],
        "forward_vector": [
            -0.0971330925822258,
            0.9952085614204407,
            0.011184935458004475
        ],
        "right_vector": [
            -0.9952693581581116,
            -0.0971493050456047,
            0.0009139393223449588
        ],
        "location": [
            971.9368286132812,
            3311.58837890625,
            369.0389709472656
        ],
        "rotation": [
            -0.052368149161338806,
            0.6408629417419434,
            95.57445526123047
        ],
        "velocity": [
            -0.6859190464019775,
            7.02080774307251,
            0.12123790383338928
        ],
        "speed": 7.05423463625955,
        "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": 84.40278625488281,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087768554688,
                3394.70654296875,
                370.1441345214844
            ],
            "velocity": [
                -1.135489856096683e-05,
                -2.2476911908597685e-05,
                -0.001688111573457718
            ],
            "speed_kmh": 0.006077877803421923,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.08935546875,
                        "y": 3388.49267578125,
                        "z": 370.2086486816406
                    },
                    "rotation": {
                        "roll": -2.668186027676711e-08,
                        "pitch": -0.5941991209983826,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.880615234375,
                        "y": 3387.97607421875,
                        "z": 370.2086486816406
                    },
                    "rotation": {
                        "roll": -2.668186027676711e-08,
                        "pitch": -0.5941991209983826,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0883216857910156,
                "transform": {
                    "location": {
                        "x": 976.0668334960938,
                        "y": 3277.239990234375,
                        "z": 368.3464660644531
                    },
                    "rotation": {
                        "roll": 0.11550800502300262,
                        "pitch": 1.3032000064849854,
                        "yaw": 98.29679870605469
                    }
                },
                "velocity": {
                    "x": 0.10920824110507965,
                    "y": 1.0825691223144531,
                    "z": 0.023703012615442276
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.114364624023438,
                "transform": {
                    "location": {
                        "x": 975.9175415039062,
                        "y": 3346.6435546875,
                        "z": 369.57476806640625
                    },
                    "rotation": {
                        "roll": 0.001928842393681407,
                        "pitch": -0.813475489616394,
                        "yaw": -80.7438735961914
                    }
                },
                "velocity": {
                    "x": 1.3036051988601685,
                    "y": -8.008188247680664,
                    "z": -0.11153576523065567
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.119051933288574,
                "transform": {
                    "location": {
                        "x": 972.7090454101562,
                        "y": 3346.1259765625,
                        "z": 369.57470703125
                    },
                    "rotation": {
                        "roll": -9.149638208327815e-05,
                        "pitch": -0.8127788305282593,
                        "yaw": -80.74398040771484
                    }
                },
                "velocity": {
                    "x": 1.305582046508789,
                    "y": -8.012615203857422,
                    "z": -0.11160159856081009
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.781005859375,
                        "y": 3422.263427734375,
                        "z": 370.5252990722656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256713867188,
                        "y": 3438.747802734375,
                        "z": 370.5603942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002203638869104907,
                "transform": {
                    "location": {
                        "x": 978.6678466796875,
                        "y": 3267.135986328125,
                        "z": 368.1177673339844
                    },
                    "rotation": {
                        "roll": 0.007830820977687836,
                        "pitch": 1.306847333908081,
                        "yaw": 92.74101257324219
                    }
                },
                "velocity": {
                    "x": 3.6332421586848795e-05,
                    "y": -0.00015719830116722733,
                    "z": 0.0001500962971476838
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.659076690673828,
                "transform": {
                    "location": {
                        "x": 976.5908203125,
                        "y": 3295.3466796875,
                        "z": 368.7267761230469
                    },
                    "rotation": {
                        "roll": -0.08993528038263321,
                        "pitch": 1.5903820991516113,
                        "yaw": 95.8572769165039
                    }
                },
                "velocity": {
                    "x": -1.2945643663406372,
                    "y": 12.59022045135498,
                    "z": 0.2503480911254883
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.526308536529541,
                "transform": {
                    "location": {
                        "x": 972.9627075195312,
                        "y": 3322.8076171875,
                        "z": 369.22198486328125
                    },
                    "rotation": {
                        "roll": -0.007720933295786381,
                        "pitch": 0.8871595859527588,
                        "yaw": 99.00584411621094
                    }
                },
                "velocity": {
                    "x": -1.1788831949234009,
                    "y": 7.4324259757995605,
                    "z": 0.12082836031913757
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.098983764648438,
                "transform": {
                    "location": {
                        "x": 970.44287109375,
                        "y": 3338.583251953125,
                        "z": 369.4727783203125
                    },
                    "rotation": {
                        "roll": 0.0057862550020217896,
                        "pitch": 0.8643330931663513,
                        "yaw": 99.20553588867188
                    }
                },
                "velocity": {
                    "x": -1.2951401472091675,
                    "y": 7.993859767913818,
                    "z": 0.11981269717216492
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0013583058025687933,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.216552734375
                    },
                    "rotation": {
                        "roll": -9.155426232609898e-05,
                        "pitch": 0.1659599244594574,
                        "yaw": 99.13902282714844
                    }
                },
                "velocity": {
                    "x": -1.8960199668072164e-05,
                    "y": -2.426616811135318e-05,
                    "z": 0.0013579566730186343
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0016882993513718247,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.70654296875,
                        "z": 370.1441345214844
                    },
                    "rotation": {
                        "roll": -0.0017089603934437037,
                        "pitch": 0.7135361433029175,
                        "yaw": 99.13834381103516
                    }
                },
                "velocity": {
                    "x": -1.135489856096683e-05,
                    "y": -2.2476911908597685e-05,
                    "z": -0.001688111573457718
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2119736224412918,
        "expert_target_speed": 7.875709911857065,
        "target_point": [
            31.009840563278363,
            2.276047489788882
        ],
        "target_point_next": [
            81.91093322303912,
            5.4499662363364445
        ]
    },
    "75": {
        "acceleration": [
            0.4533374309539795,
            -3.1949329376220703,
            -0.06955042481422424
        ],
        "angular_velocity": [
            0.42471015453338623,
            0.11674924194812775,
            -3.5898895263671875
        ],
        "forward_vector": [
            -0.09116148203611374,
            0.995797872543335,
            0.008727677166461945
        ],
        "right_vector": [
            -0.9958345293998718,
            -0.0911731943488121,
            0.0009528421214781702
        ],
        "location": [
            971.7876586914062,
            3313.111572265625,
            369.0657653808594
        ],
        "rotation": [
            -0.05459592118859291,
            0.5000654458999634,
            95.23062896728516
        ],
        "velocity": [
            -0.5387069582939148,
            5.655301570892334,
            0.0962563082575798
        ],
        "speed": 5.680901428880066,
        "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": 82.87665557861328,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087768554688,
                3394.70654296875,
                370.1441345214844
            ],
            "velocity": [
                1.0299030464011594e-06,
                -1.0359063708165195e-05,
                0.0002588086645118892
            ],
            "speed_kmh": 0.0009324646012744863,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.4197387695312,
                        "y": 3386.43994140625,
                        "z": 370.0657653808594
                    },
                    "rotation": {
                        "roll": -2.668186027676711e-08,
                        "pitch": -0.5941991209983826,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.2110595703125,
                        "y": 3385.923583984375,
                        "z": 370.0657653808594
                    },
                    "rotation": {
                        "roll": -2.668186027676711e-08,
                        "pitch": -0.5941991209983826,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7771574258804321,
                "transform": {
                    "location": {
                        "x": 976.0834350585938,
                        "y": 3277.59619140625,
                        "z": 368.35443115234375
                    },
                    "rotation": {
                        "roll": 0.05531269311904907,
                        "pitch": 1.303008794784546,
                        "yaw": 95.6495590209961
                    }
                },
                "velocity": {
                    "x": 0.2010107934474945,
                    "y": 1.7653173208236694,
                    "z": 0.0392172709107399
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.966395378112793,
                "transform": {
                    "location": {
                        "x": 976.2380981445312,
                        "y": 3344.66845703125,
                        "z": 369.5461120605469
                    },
                    "rotation": {
                        "roll": 0.0023797566536813974,
                        "pitch": -0.8516221046447754,
                        "yaw": -80.78553009033203
                    }
                },
                "velocity": {
                    "x": 1.2735984325408936,
                    "y": -7.863087177276611,
                    "z": -0.11516378074884415
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.960592746734619,
                "transform": {
                    "location": {
                        "x": 973.0294799804688,
                        "y": 3344.151123046875,
                        "z": 369.54608154296875
                    },
                    "rotation": {
                        "roll": 0.0026809328701347113,
                        "pitch": -0.8532750010490417,
                        "yaw": -80.78511810302734
                    }
                },
                "velocity": {
                    "x": 1.2725178003311157,
                    "y": -7.857377052307129,
                    "z": -0.11562035232782364
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.781005859375,
                        "y": 3422.263427734375,
                        "z": 370.5252990722656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256713867188,
                        "y": 3438.747802734375,
                        "z": 370.5603942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5085898041725159,
                "transform": {
                    "location": {
                        "x": 978.66552734375,
                        "y": 3267.18310546875,
                        "z": 368.118896484375
                    },
                    "rotation": {
                        "roll": 0.00614904472604394,
                        "pitch": 1.3740495443344116,
                        "yaw": 92.72366333007812
                    }
                },
                "velocity": {
                    "x": -0.026180915534496307,
                    "y": 0.507782518863678,
                    "z": 0.011620311066508293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.750234603881836,
                "transform": {
                    "location": {
                        "x": 976.26708984375,
                        "y": 3298.403564453125,
                        "z": 368.78851318359375
                    },
                    "rotation": {
                        "roll": -0.12176508456468582,
                        "pitch": 1.0893604755401611,
                        "yaw": 96.22637939453125
                    }
                },
                "velocity": {
                    "x": -1.2908843755722046,
                    "y": 11.676908493041992,
                    "z": 0.22682179510593414
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.973653316497803,
                "transform": {
                    "location": {
                        "x": 972.6571655273438,
                        "y": 3324.7294921875,
                        "z": 369.2532653808594
                    },
                    "rotation": {
                        "roll": -0.005371109116822481,
                        "pitch": 0.9678172469139099,
                        "yaw": 99.02661895751953
                    }
                },
                "velocity": {
                    "x": -1.252959132194519,
                    "y": 7.8735671043396,
                    "z": 0.12719331681728363
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.012133598327637,
                "transform": {
                    "location": {
                        "x": 970.1204223632812,
                        "y": 3340.57275390625,
                        "z": 369.50201416015625
                    },
                    "rotation": {
                        "roll": 0.0031066127121448517,
                        "pitch": 0.8188918232917786,
                        "yaw": 99.2158203125
                    }
                },
                "velocity": {
                    "x": -1.2810933589935303,
                    "y": 7.9082183837890625,
                    "z": 0.11476768553256989
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0015953313559293747,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2166442871094
                    },
                    "rotation": {
                        "roll": -3.0529205105267465e-05,
                        "pitch": 0.16574135422706604,
                        "yaw": 99.13902282714844
                    }
                },
                "velocity": {
                    "x": 5.596482878900133e-05,
                    "y": 5.0854829169111326e-05,
                    "z": 0.0015935382107272744
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0002590179501567036,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.70654296875,
                        "z": 370.1441345214844
                    },
                    "rotation": {
                        "roll": 5.880821117898449e-05,
                        "pitch": 0.7131058573722839,
                        "yaw": 99.13833618164062
                    }
                },
                "velocity": {
                    "x": 1.0299030464011594e-06,
                    "y": -1.0359063708165195e-05,
                    "z": 0.0002588086645118892
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2559334933757782,
        "expert_target_speed": 6.700683171065629,
        "target_point": [
            29.465172999644405,
            2.452423990865111
        ],
        "target_point_next": [
            80.34630092108614,
            5.931765251667355
        ]
    },
    "80": {
        "acceleration": [
            -0.37140488624572754,
            2.2532081604003906,
            0.0401383638381958
        ],
        "angular_velocity": [
            1.1000503301620483,
            0.2509435713291168,
            1.9558390378952026
        ],
        "forward_vector": [
            -0.0866246446967125,
            0.9961249828338623,
            0.015202293172478676
        ],
        "right_vector": [
            -0.9962390065193176,
            -0.0866447389125824,
            0.000666777603328228
        ],
        "location": [
            971.6526489257812,
            3314.5869140625,
            369.08941650390625
        ],
        "rotation": [
            -0.03820796310901642,
            0.8710607886314392,
            94.97003173828125
        ],
        "velocity": [
            -0.5453775525093079,
            6.05525016784668,
            0.1026124581694603
        ],
        "speed": 6.079760790523611,
        "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": 81.40032958984375,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087768554688,
                3394.70654296875,
                370.1441345214844
            ],
            "velocity": [
                4.531197191681713e-05,
                -4.7995149543567095e-06,
                -0.00020693361875601113
            ],
            "speed_kmh": 0.0007628070634024203,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.7506713867188,
                        "y": 3384.38232421875,
                        "z": 370.0412902832031
                    },
                    "rotation": {
                        "roll": 2.668203791245105e-08,
                        "pitch": -0.6297024488449097,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.5419921875,
                        "y": 3383.866455078125,
                        "z": 370.04132080078125
                    },
                    "rotation": {
                        "roll": 2.668203791245105e-08,
                        "pitch": -0.6297024488449097,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.577932357788086,
                "transform": {
                    "location": {
                        "x": 976.1220092773438,
                        "y": 3278.14013671875,
                        "z": 368.3665466308594
                    },
                    "rotation": {
                        "roll": -0.02340693213045597,
                        "pitch": 1.2985554933547974,
                        "yaw": 92.21529388427734
                    }
                },
                "velocity": {
                    "x": 0.3335879445075989,
                    "y": 2.555633068084717,
                    "z": 0.0565088726580143
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.092846870422363,
                "transform": {
                    "location": {
                        "x": 976.5591430664062,
                        "y": 3342.685546875,
                        "z": 369.5171813964844
                    },
                    "rotation": {
                        "roll": 0.0012711838353425264,
                        "pitch": -0.8143907189369202,
                        "yaw": -80.80472564697266
                    }
                },
                "velocity": {
                    "x": 1.2931263446807861,
                    "y": -7.988032817840576,
                    "z": -0.11543333530426025
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.095793724060059,
                "transform": {
                    "location": {
                        "x": 973.3502807617188,
                        "y": 3342.1689453125,
                        "z": 369.5171813964844
                    },
                    "rotation": {
                        "roll": 0.000373456918168813,
                        "pitch": -0.8137213587760925,
                        "yaw": -80.8070297241211
                    }
                },
                "velocity": {
                    "x": 1.2931889295578003,
                    "y": -7.991006851196289,
                    "z": -0.11554602533578873
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.781005859375,
                        "y": 3422.263427734375,
                        "z": 370.5252990722656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256713867188,
                        "y": 3438.747802734375,
                        "z": 370.5603942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.334449052810669,
                "transform": {
                    "location": {
                        "x": 978.654052734375,
                        "y": 3267.402099609375,
                        "z": 368.12396240234375
                    },
                    "rotation": {
                        "roll": 0.006254296284168959,
                        "pitch": 1.431641697883606,
                        "yaw": 92.7474594116211
                    }
                },
                "velocity": {
                    "x": -0.0698108822107315,
                    "y": 1.3322830200195312,
                    "z": 0.030043458566069603
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.06322956085205,
                "transform": {
                    "location": {
                        "x": 975.9541015625,
                        "y": 3301.19140625,
                        "z": 368.8427734375
                    },
                    "rotation": {
                        "roll": -0.08959953486919403,
                        "pitch": 0.847797155380249,
                        "yaw": 96.512451171875
                    }
                },
                "velocity": {
                    "x": -1.255394458770752,
                    "y": 10.989782333374023,
                    "z": 0.20908311009407043
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.646114826202393,
                "transform": {
                    "location": {
                        "x": 972.3490600585938,
                        "y": 3326.662841796875,
                        "z": 369.2844543457031
                    },
                    "rotation": {
                        "roll": -0.004058803431689739,
                        "pitch": 0.8969404101371765,
                        "yaw": 99.077880859375
                    }
                },
                "velocity": {
                    "x": -1.2057138681411743,
                    "y": 7.549450397491455,
                    "z": 0.12297368794679642
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.020200729370117,
                "transform": {
                    "location": {
                        "x": 969.8012084960938,
                        "y": 3342.547119140625,
                        "z": 369.5306701660156
                    },
                    "rotation": {
                        "roll": 0.0020070048049092293,
                        "pitch": 0.8287614583969116,
                        "yaw": 99.17022705078125
                    }
                },
                "velocity": {
                    "x": -1.2785863876342773,
                    "y": 7.916794300079346,
                    "z": 0.11487031728029251
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0011164097813889384,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2167053222656
                    },
                    "rotation": {
                        "roll": -3.0529205105267465e-05,
                        "pitch": 0.16621947288513184,
                        "yaw": 99.13902282714844
                    }
                },
                "velocity": {
                    "x": -2.5166076738969423e-05,
                    "y": -2.609670082165394e-05,
                    "z": 0.0011158209526911378
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.00021189084509387612,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.70654296875,
                        "z": 370.1441345214844
                    },
                    "rotation": {
                        "roll": -0.00021356665820349008,
                        "pitch": 0.7129828929901123,
                        "yaw": 99.13839721679688
                    }
                },
                "velocity": {
                    "x": 4.531197191681713e-05,
                    "y": -4.7995149543567095e-06,
                    "z": -0.00020693361875601113
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.30419865250587463,
        "expert_target_speed": 7.052043081249739,
        "target_point": [
            27.972221999936792,
            2.579735961312948
        ],
        "target_point_next": [
            78.8369976728158,
            6.29047576826982
        ]
    },
    "85": {
        "acceleration": [
            -1.204155683517456,
            8.739395141601562,
            0.12404859066009521
        ],
        "angular_velocity": [
            1.8598822355270386,
            0.4394962191581726,
            2.559457778930664
        ],
        "forward_vector": [
            -0.09402426332235336,
            0.9951772093772888,
            0.02795903943479061
        ],
        "right_vector": [
            -0.9955585598945618,
            -0.09412005543708801,
            0.0021270306315273046
        ],
        "location": [
            971.4769897460938,
            3316.43701171875,
            369.1177673339844
        ],
        "rotation": [
            -0.12191764265298843,
            1.6021437644958496,
            95.39727783203125
        ],
        "velocity": [
            -0.8567432761192322,
            8.581697463989258,
            0.14196562767028809
        ],
        "speed": 8.62435739082137,
        "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": 79.54817199707031,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087768554688,
                3394.70654296875,
                370.1441345214844
            ],
            "velocity": [
                2.4118311557685956e-05,
                -9.366050107928459e-06,
                -0.00033482059370726347
            ],
            "speed_kmh": 0.0012089475694978791,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.776507377624512,
                "transform": {
                    "location": {
                        "x": 970.0324096679688,
                        "y": 3382.701904296875,
                        "z": 370.043701171875
                    },
                    "rotation": {
                        "roll": -0.020934998989105225,
                        "pitch": -0.7238429188728333,
                        "yaw": -80.48585510253906
                    }
                },
                "velocity": {
                    "x": 1.1598573923110962,
                    "y": -6.67649507522583,
                    "z": -0.014144868589937687
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.944492340087891,
                "transform": {
                    "location": {
                        "x": 966.8239135742188,
                        "y": 3382.1455078125,
                        "z": 370.0129699707031
                    },
                    "rotation": {
                        "roll": -0.008819534443318844,
                        "pitch": -0.6610666513442993,
                        "yaw": -80.66495513916016
                    }
                },
                "velocity": {
                    "x": 1.1622313261032104,
                    "y": -6.845789432525635,
                    "z": -0.10179132223129272
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.248067617416382,
                "transform": {
                    "location": {
                        "x": 976.1917724609375,
                        "y": 3278.862060546875,
                        "z": 368.3825988769531
                    },
                    "rotation": {
                        "roll": -0.10327146202325821,
                        "pitch": 1.2884126901626587,
                        "yaw": 88.73805236816406
                    }
                },
                "velocity": {
                    "x": 0.46025922894477844,
                    "y": 3.2145137786865234,
                    "z": 0.07075519114732742
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043517112731934,
                "transform": {
                    "location": {
                        "x": 976.8812866210938,
                        "y": 3340.69189453125,
                        "z": 369.4881896972656
                    },
                    "rotation": {
                        "roll": 0.001323035336099565,
                        "pitch": -0.8329415321350098,
                        "yaw": -80.8216781616211
                    }
                },
                "velocity": {
                    "x": 1.2815172672271729,
                    "y": -7.939929008483887,
                    "z": -0.11581870168447495
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04234790802002,
                "transform": {
                    "location": {
                        "x": 973.6725463867188,
                        "y": 3340.174560546875,
                        "z": 369.4881896972656
                    },
                    "rotation": {
                        "roll": 0.002258870517835021,
                        "pitch": -0.83367919921875,
                        "yaw": -80.82361602783203
                    }
                },
                "velocity": {
                    "x": 1.2810702323913574,
                    "y": -7.938827991485596,
                    "z": -0.11503027379512787
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.781005859375,
                        "y": 3422.263427734375,
                        "z": 370.5252990722656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256713867188,
                        "y": 3438.747802734375,
                        "z": 370.5603942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.182626962661743,
                "transform": {
                    "location": {
                        "x": 978.6298828125,
                        "y": 3267.862548828125,
                        "z": 368.1344909667969
                    },
                    "rotation": {
                        "roll": 0.009084228426218033,
                        "pitch": 1.4492908716201782,
                        "yaw": 92.83234405517578
                    }
                },
                "velocity": {
                    "x": -0.1142549216747284,
                    "y": 2.179044008255005,
                    "z": 0.050729818642139435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.150167465209961,
                "transform": {
                    "location": {
                        "x": 975.6234741210938,
                        "y": 3303.980224609375,
                        "z": 368.8943786621094
                    },
                    "rotation": {
                        "roll": -0.11633308231830597,
                        "pitch": 1.0287493467330933,
                        "yaw": 96.92547607421875
                    }
                },
                "velocity": {
                    "x": -1.3573201894760132,
                    "y": 11.065311431884766,
                    "z": 0.2068939507007599
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.741316318511963,
                "transform": {
                    "location": {
                        "x": 972.0477905273438,
                        "y": 3328.546142578125,
                        "z": 369.3147888183594
                    },
                    "rotation": {
                        "roll": -0.0024108828511089087,
                        "pitch": 0.9133874773979187,
                        "yaw": 99.08081817626953
                    }
                },
                "velocity": {
                    "x": -1.2246453762054443,
                    "y": 7.64287805557251,
                    "z": 0.12097419798374176
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.052881240844727,
                "transform": {
                    "location": {
                        "x": 969.4806518554688,
                        "y": 3344.533447265625,
                        "z": 369.5594787597656
                    },
                    "rotation": {
                        "roll": 0.0011019653175026178,
                        "pitch": 0.8353798985481262,
                        "yaw": 99.17935943603516
                    }
                },
                "velocity": {
                    "x": -1.283813714981079,
                    "y": 7.9490532875061035,
                    "z": 0.11518649756908417
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.001003155135549605,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2167053222656
                    },
                    "rotation": {
                        "roll": -0.00024414691142737865,
                        "pitch": 0.1653793603181839,
                        "yaw": 99.13904571533203
                    }
                },
                "velocity": {
                    "x": -2.1817395463585854e-05,
                    "y": 1.0724887033575214e-05,
                    "z": 0.001002860488370061
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.00033581876778043807,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.70654296875,
                        "z": 370.1441345214844
                    },
                    "rotation": {
                        "roll": -0.0014038190711289644,
                        "pitch": 0.7126209139823914,
                        "yaw": 99.13841247558594
                    }
                },
                "velocity": {
                    "x": 2.4118311557685956e-05,
                    "y": -9.366050107928459e-06,
                    "z": -0.00033482059370726347
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.32986748218536377,
        "expert_target_speed": 9.080800079708652,
        "target_point": [
            26.132262861920704,
            2.370225514851462
        ],
        "target_point_next": [
            77.02329432206596,
            5.701578256568219
        ]
    },
    "90": {
        "acceleration": [
            -0.7656002044677734,
            2.7579116821289062,
            0.029509365558624268
        ],
        "angular_velocity": [
            -1.5611621141433716,
            -0.04464591667056084,
            3.0059845447540283
        ],
        "forward_vector": [
            -0.10638882219791412,
            0.9939168691635132,
            0.028473341837525368
        ],
        "right_vector": [
            -0.9943064451217651,
            -0.10651638358831406,
            0.002996968338266015
        ],
        "location": [
            971.2288208007812,
            3318.803466796875,
            369.15679931640625
        ],
        "rotation": [
            -0.17178353667259216,
            1.6316227912902832,
            96.10967254638672
        ],
        "velocity": [
            -1.0984570980072021,
            9.891020774841309,
            0.1615200936794281
        ],
        "speed": 9.95182897584684,
        "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": 77.17524719238281,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087768554688,
                3394.70654296875,
                370.1441345214844
            ],
            "velocity": [
                -2.987962091083318e-07,
                -6.478503109974554e-06,
                -0.00027058093110099435
            ],
            "speed_kmh": 0.0009743711116516809,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.577486991882324,
                "transform": {
                    "location": {
                        "x": 970.31640625,
                        "y": 3381.05712890625,
                        "z": 370.0321350097656
                    },
                    "rotation": {
                        "roll": -0.005584761034697294,
                        "pitch": -0.6518527269363403,
                        "yaw": -80.21636962890625
                    }
                },
                "velocity": {
                    "x": 1.1074291467666626,
                    "y": -6.483312129974365,
                    "z": -0.059998512268066406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.737613677978516,
                "transform": {
                    "location": {
                        "x": 967.1104736328125,
                        "y": 3380.46044921875,
                        "z": 369.99139404296875
                    },
                    "rotation": {
                        "roll": -0.00964353233575821,
                        "pitch": -0.6315943598747253,
                        "yaw": -80.2516098022461
                    }
                },
                "velocity": {
                    "x": 1.1456538438796997,
                    "y": -6.639071941375732,
                    "z": -0.07508822530508041
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9622628688812256,
                "transform": {
                    "location": {
                        "x": 976.3008422851562,
                        "y": 3279.759521484375,
                        "z": 368.4022521972656
                    },
                    "rotation": {
                        "roll": -0.1795348972082138,
                        "pitch": 1.2710981369018555,
                        "yaw": 85.7038803100586
                    }
                },
                "velocity": {
                    "x": 0.6108888983726501,
                    "y": 3.9139676094055176,
                    "z": 0.08484940975904465
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.030505180358887,
                "transform": {
                    "location": {
                        "x": 977.200927734375,
                        "y": 3338.7119140625,
                        "z": 369.4585876464844
                    },
                    "rotation": {
                        "roll": 0.0001701070723356679,
                        "pitch": -0.8644081950187683,
                        "yaw": -80.83090209960938
                    }
                },
                "velocity": {
                    "x": 1.2785066366195679,
                    "y": -7.927178859710693,
                    "z": -0.1193978413939476
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.030950546264648,
                "transform": {
                    "location": {
                        "x": 973.9920043945312,
                        "y": 3338.1953125,
                        "z": 369.4585876464844
                    },
                    "rotation": {
                        "roll": 0.0007612258777953684,
                        "pitch": -0.8647701740264893,
                        "yaw": -80.8345718383789
                    }
                },
                "velocity": {
                    "x": 1.2790077924728394,
                    "y": -7.927543640136719,
                    "z": -0.11982650309801102
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.781005859375,
                        "y": 3422.263427734375,
                        "z": 370.5252990722656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256713867188,
                        "y": 3438.747802734375,
                        "z": 370.5603942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015745243290439248,
                "transform": {
                    "location": {
                        "x": 978.6149291992188,
                        "y": 3268.145263671875,
                        "z": 368.1404113769531
                    },
                    "rotation": {
                        "roll": 0.012585385702550411,
                        "pitch": 1.0592256784439087,
                        "yaw": 92.9485092163086
                    }
                },
                "velocity": {
                    "x": -0.0002224142081104219,
                    "y": -0.0008347461698576808,
                    "z": 0.0013163804542273283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.019726753234863,
                "transform": {
                    "location": {
                        "x": 975.2866821289062,
                        "y": 3306.697509765625,
                        "z": 368.94451904296875
                    },
                    "rotation": {
                        "roll": -0.07910152524709702,
                        "pitch": 0.9799271821975708,
                        "yaw": 97.14459228515625
                    }
                },
                "velocity": {
                    "x": -1.3723903894424438,
                    "y": 10.932141304016113,
                    "z": 0.19801221787929535
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.834396839141846,
                "transform": {
                    "location": {
                        "x": 971.7372436523438,
                        "y": 3330.482177734375,
                        "z": 369.345458984375
                    },
                    "rotation": {
                        "roll": -0.0013733052182942629,
                        "pitch": 0.9028416872024536,
                        "yaw": 99.13201904296875
                    }
                },
                "velocity": {
                    "x": -1.2407176494598389,
                    "y": 7.734560489654541,
                    "z": 0.12234624475240707
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.018645286560059,
                "transform": {
                    "location": {
                        "x": 969.1610717773438,
                        "y": 3346.515625,
                        "z": 369.58782958984375
                    },
                    "rotation": {
                        "roll": 0.00218691723421216,
                        "pitch": 0.806037425994873,
                        "yaw": 99.14729309082031
                    }
                },
                "velocity": {
                    "x": -1.274829626083374,
                    "y": 7.91587495803833,
                    "z": 0.1113756000995636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.5422303676605225,
                "transform": {
                    "location": {
                        "x": 955.8671875,
                        "y": 3403.658447265625,
                        "z": 370.2170715332031
                    },
                    "rotation": {
                        "roll": 0.0027191368862986565,
                        "pitch": -0.1403467208147049,
                        "yaw": 99.14420318603516
                    }
                },
                "velocity": {
                    "x": -0.08674129098653793,
                    "y": 0.5352280735969543,
                    "z": 0.004539661109447479
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.00027065863832831383,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.70654296875,
                        "z": 370.1441345214844
                    },
                    "rotation": {
                        "roll": -0.00033571908716112375,
                        "pitch": 0.7127848267555237,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": -2.987962091083318e-07,
                    "y": -6.478503109974554e-06,
                    "z": -0.00027058093110099435
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.421911358833313,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4013184607028961,
        "expert_target_speed": 9.968641385864387,
        "target_point": [
            23.78028382195735,
            2.0502643608258997
        ],
        "target_point_next": [
            74.70879847330885,
            4.7486693664384365
        ]
    },
    "95": {
        "acceleration": [
            -1.4537453651428223,
            6.574153900146484,
            0.08598178625106812
        ],
        "angular_velocity": [
            0.30623024702072144,
            0.23937015235424042,
            3.4288218021392822
        ],
        "forward_vector": [
            -0.12034104764461517,
            0.9923049211502075,
            0.02913658693432808
        ],
        "right_vector": [
            -0.9927055239677429,
            -0.12050261348485947,
            0.003847687039524317
        ],
        "location": [
            970.9144287109375,
            3321.484375,
            369.2003173828125
        ],
        "rotation": [
            -0.22055041790008545,
            1.6696397066116333,
            96.91473388671875
        ],
        "velocity": [
            -1.4473778009414673,
            11.622720718383789,
            0.18794693052768707
        ],
        "speed": 11.712495011576566,
        "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": 74.48147583007812,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087768554688,
                3394.70654296875,
                370.1441345214844
            ],
            "velocity": [
                -1.5558804079773836e-05,
                -1.9687711755977944e-05,
                -0.0003429458593018353
            ],
            "speed_kmh": 0.0012379056589617242,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.726185321807861,
                "transform": {
                    "location": {
                        "x": 970.5835571289062,
                        "y": 3379.483154296875,
                        "z": 370.01654052734375
                    },
                    "rotation": {
                        "roll": -0.0025024753995239735,
                        "pitch": -0.7215889692306519,
                        "yaw": -80.3382797241211
                    }
                },
                "velocity": {
                    "x": 0.950860321521759,
                    "y": -5.646356105804443,
                    "z": -0.06105121597647667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.968088150024414,
                "transform": {
                    "location": {
                        "x": 967.3990478515625,
                        "y": 3378.770751953125,
                        "z": 369.97259521484375
                    },
                    "rotation": {
                        "roll": -0.007873544469475746,
                        "pitch": -0.6267654299736023,
                        "yaw": -80.18446350097656
                    }
                },
                "velocity": {
                    "x": 1.170249104499817,
                    "y": -6.8686981201171875,
                    "z": -0.07588224112987518
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.6654372215271,
                "transform": {
                    "location": {
                        "x": 976.4531860351562,
                        "y": 3280.828125,
                        "z": 368.4255065917969
                    },
                    "rotation": {
                        "roll": -0.23046882450580597,
                        "pitch": 1.25320303440094,
                        "yaw": 83.34452819824219
                    }
                },
                "velocity": {
                    "x": 0.7633382081985474,
                    "y": 4.601504802703857,
                    "z": 0.09884832054376602
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.066884994506836,
                "transform": {
                    "location": {
                        "x": 977.5215454101562,
                        "y": 3336.723876953125,
                        "z": 369.4283447265625
                    },
                    "rotation": {
                        "roll": 0.000698631745763123,
                        "pitch": -0.893033504486084,
                        "yaw": -80.83592987060547
                    }
                },
                "velocity": {
                    "x": 1.2845842838287354,
                    "y": -7.962991237640381,
                    "z": -0.12348420172929764
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.068644523620605,
                "transform": {
                    "location": {
                        "x": 974.3126220703125,
                        "y": 3336.20703125,
                        "z": 369.4283447265625
                    },
                    "rotation": {
                        "roll": 0.00017696603026706725,
                        "pitch": -0.8922070860862732,
                        "yaw": -80.83799743652344
                    }
                },
                "velocity": {
                    "x": 1.2845542430877686,
                    "y": -7.964768886566162,
                    "z": -0.12409452348947525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.781005859375,
                        "y": 3422.263427734375,
                        "z": 370.5252990722656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256713867188,
                        "y": 3438.747802734375,
                        "z": 370.5603942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0784966945648193,
                "transform": {
                    "location": {
                        "x": 978.6066284179688,
                        "y": 3268.300048828125,
                        "z": 368.1444091796875
                    },
                    "rotation": {
                        "roll": 0.010362453758716583,
                        "pitch": 1.3614137172698975,
                        "yaw": 92.95403289794922
                    }
                },
                "velocity": {
                    "x": -0.056926608085632324,
                    "y": 1.0767182111740112,
                    "z": 0.02433815971016884
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.47668170928955,
                "transform": {
                    "location": {
                        "x": 974.9330444335938,
                        "y": 3309.397216796875,
                        "z": 368.99322509765625
                    },
                    "rotation": {
                        "roll": -0.10488893836736679,
                        "pitch": 0.8849465847015381,
                        "yaw": 97.60899353027344
                    }
                },
                "velocity": {
                    "x": -1.3944886922836304,
                    "y": 10.381828308105469,
                    "z": 0.18414776027202606
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.670640468597412,
                "transform": {
                    "location": {
                        "x": 971.4313354492188,
                        "y": 3332.3896484375,
                        "z": 369.3752746582031
                    },
                    "rotation": {
                        "roll": -0.002014180412515998,
                        "pitch": 0.8753774762153625,
                        "yaw": 99.10171508789062
                    }
                },
                "velocity": {
                    "x": -1.2146949768066406,
                    "y": 7.57291841506958,
                    "z": 0.1189441829919815
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036892890930176,
                "transform": {
                    "location": {
                        "x": 968.8418579101562,
                        "y": 3348.49560546875,
                        "z": 369.6155090332031
                    },
                    "rotation": {
                        "roll": 0.0016733319498598576,
                        "pitch": 0.7648650407791138,
                        "yaw": 99.16748046875
                    }
                },
                "velocity": {
                    "x": -1.2786216735839844,
                    "y": 7.93377161026001,
                    "z": 0.10975595563650131
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.7614922523498535,
                "transform": {
                    "location": {
                        "x": 955.8411254882812,
                        "y": 3403.820556640625,
                        "z": 370.2184753417969
                    },
                    "rotation": {
                        "roll": -0.004882811568677425,
                        "pitch": -0.027464188635349274,
                        "yaw": 99.11955261230469
                    }
                },
                "velocity": {
                    "x": -0.11940373480319977,
                    "y": 0.7520466446876526,
                    "z": 0.006246299482882023
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0003438626881688833,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.70654296875,
                        "z": 370.1441345214844
                    },
                    "rotation": {
                        "roll": -0.00012209908163640648,
                        "pitch": 0.7128941416740417,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": -1.5558804079773836e-05,
                    "y": -1.9687711755977944e-05,
                    "z": -0.0003429458593018353
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.5420087575912476,
        "expert_target_speed": 10.0,
        "target_point": [
            21.107486957696544,
            1.7265645166260928
        ],
        "target_point_next": [
            72.06889059441144,
            3.7090714001097815
        ]
    },
    "100": {
        "acceleration": [
            -1.5436482429504395,
            5.351123809814453,
            0.08709251880645752
        ],
        "angular_velocity": [
            -0.2827397882938385,
            0.13986673951148987,
            3.7931125164031982
        ],
        "forward_vector": [
            -0.13599154353141785,
            0.9902957081794739,
            0.028648387640714645
        ],
        "right_vector": [
            -0.9906740784645081,
            -0.13617603480815887,
            0.004581402521580458
        ],
        "location": [
            970.5078125,
            3324.57861328125,
            369.2503967285156
        ],
        "rotation": [
            -0.2626037299633026,
            1.6416563987731934,
            97.8191909790039
        ],
        "velocity": [
            -1.818113923072815,
            13.037620544433594,
            0.21076396107673645
        ],
        "speed": 13.163779385036355,
        "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": 71.62413787841797,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.267578125,
                3394.962646484375,
                370.1456604003906
            ],
            "velocity": [
                -0.22603875398635864,
                1.4053263664245605,
                0.01261727325618267
            ],
            "speed_kmh": 5.124401041519698,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.311911106109619,
                "transform": {
                    "location": {
                        "x": 970.8084716796875,
                        "y": 3378.150146484375,
                        "z": 370.0016784667969
                    },
                    "rotation": {
                        "roll": -0.0028381228912621737,
                        "pitch": -0.6905457377433777,
                        "yaw": -80.40635681152344
                    }
                },
                "velocity": {
                    "x": 0.8811131715774536,
                    "y": -5.238014221191406,
                    "z": -0.05699651688337326
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.245650768280029,
                "transform": {
                    "location": {
                        "x": 967.6760864257812,
                        "y": 3377.146484375,
                        "z": 369.9546813964844
                    },
                    "rotation": {
                        "roll": -0.005493135657161474,
                        "pitch": -0.652522087097168,
                        "yaw": -80.28079223632812
                    }
                },
                "velocity": {
                    "x": 1.044852375984192,
                    "y": -6.15721321105957,
                    "z": -0.07183600217103958
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.245267391204834,
                "transform": {
                    "location": {
                        "x": 976.6480102539062,
                        "y": 3282.0712890625,
                        "z": 368.4527282714844
                    },
                    "rotation": {
                        "roll": -0.2690429389476776,
                        "pitch": 1.2327193021774292,
                        "yaw": 81.82872772216797
                    }
                },
                "velocity": {
                    "x": 0.7697643637657166,
                    "y": 5.18728494644165,
                    "z": 0.11121005564928055
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037405967712402,
                "transform": {
                    "location": {
                        "x": 977.8419189453125,
                        "y": 3334.737060546875,
                        "z": 369.3970947265625
                    },
                    "rotation": {
                        "roll": 0.002195027656853199,
                        "pitch": -0.8975551128387451,
                        "yaw": -80.84219360351562
                    }
                },
                "velocity": {
                    "x": 1.277822732925415,
                    "y": -7.934215545654297,
                    "z": -0.12369334697723389
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037039756774902,
                "transform": {
                    "location": {
                        "x": 974.6331176757812,
                        "y": 3334.219970703125,
                        "z": 369.3970947265625
                    },
                    "rotation": {
                        "roll": -0.00024415587540715933,
                        "pitch": -0.8981015086174011,
                        "yaw": -80.83815002441406
                    }
                },
                "velocity": {
                    "x": 1.2795299291610718,
                    "y": -7.933541297912598,
                    "z": -0.12538468837738037
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.781005859375,
                        "y": 3422.263427734375,
                        "z": 370.5252990722656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256713867188,
                        "y": 3438.747802734375,
                        "z": 370.5603942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9816254377365112,
                "transform": {
                    "location": {
                        "x": 978.5863647460938,
                        "y": 3268.686767578125,
                        "z": 368.1533203125
                    },
                    "rotation": {
                        "roll": 0.00884986575692892,
                        "pitch": 1.4406098127365112,
                        "yaw": 92.88899993896484
                    }
                },
                "velocity": {
                    "x": -0.10365814715623856,
                    "y": 1.9783984422683716,
                    "z": 0.045098915696144104
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.735616683959961,
                "transform": {
                    "location": {
                        "x": 974.6088256835938,
                        "y": 3311.7841796875,
                        "z": 369.03668212890625
                    },
                    "rotation": {
                        "roll": -0.09231564402580261,
                        "pitch": 0.46487632393836975,
                        "yaw": 97.81271362304688
                    }
                },
                "velocity": {
                    "x": -1.2184034585952759,
                    "y": 8.648932456970215,
                    "z": 0.14987972378730774
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.800504207611084,
                "transform": {
                    "location": {
                        "x": 971.1245727539062,
                        "y": 3334.298095703125,
                        "z": 369.40521240234375
                    },
                    "rotation": {
                        "roll": -0.0017394600436091423,
                        "pitch": 0.9040437936782837,
                        "yaw": 99.14871978759766
                    }
                },
                "velocity": {
                    "x": -1.2375319004058838,
                    "y": 7.700780391693115,
                    "z": 0.11982520669698715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035025596618652,
                "transform": {
                    "location": {
                        "x": 968.5223999023438,
                        "y": 3350.4794921875,
                        "z": 369.6420593261719
                    },
                    "rotation": {
                        "roll": -0.0005798438796773553,
                        "pitch": 0.7644825577735901,
                        "yaw": 99.13394927978516
                    }
                },
                "velocity": {
                    "x": -1.2773491144180298,
                    "y": 7.932138919830322,
                    "z": 0.1057838425040245
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.9874616265296936,
                "transform": {
                    "location": {
                        "x": 955.80615234375,
                        "y": 3404.037841796875,
                        "z": 370.22027587890625
                    },
                    "rotation": {
                        "roll": 0.0055713169276714325,
                        "pitch": -0.01794290542602539,
                        "yaw": 99.1444091796875
                    }
                },
                "velocity": {
                    "x": -0.15831634402275085,
                    "y": 0.9746650457382202,
                    "z": 0.006669034715741873
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.4234447479248047,
                "transform": {
                    "location": {
                        "x": 957.267578125,
                        "y": 3394.962646484375,
                        "z": 370.1456604003906
                    },
                    "rotation": {
                        "roll": -0.00045774615136906505,
                        "pitch": 0.222097247838974,
                        "yaw": 99.13639068603516
                    }
                },
                "velocity": {
                    "x": -0.22603875398635864,
                    "y": 1.4053263664245605,
                    "z": 0.01261727325618267
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.521888256072998,
        "expert_target_speed": 10.0,
        "target_point": [
            18.01132221346965,
            1.411303772254878
        ],
        "target_point_next": [
            68.99766987927056,
            2.5891602445454485
        ]
    },
    "105": {
        "acceleration": [
            -1.8510103225708008,
            5.9064483642578125,
            0.05671083927154541
        ],
        "angular_velocity": [
            -0.03935509920120239,
            0.14013448357582092,
            4.039562702178955
        ],
        "forward_vector": [
            -0.15287327766418457,
            0.9879393577575684,
            0.024610178545117378
        ],
        "right_vector": [
            -0.9882054328918457,
            -0.15304473042488098,
            0.005229903385043144
        ],
        "location": [
            970.0158081054688,
            3327.925537109375,
            369.3051452636719
        ],
        "rotation": [
            -0.29974353313446045,
            1.4102017879486084,
            98.79615783691406
        ],
        "velocity": [
            -2.1476492881774902,
            13.776911735534668,
            0.21993330121040344
        ],
        "speed": 13.943302852399146,
        "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": 68.62285614013672,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.2073364257812,
                3395.337158203125,
                370.1494445800781
            ],
            "velocity": [
                -0.2491762340068817,
                1.5439249277114868,
                0.014375495724380016
            ],
            "speed_kmh": 5.630289090457613,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.762632846832275,
                "transform": {
                    "location": {
                        "x": 971.0391845703125,
                        "y": 3376.7763671875,
                        "z": 369.98541259765625
                    },
                    "rotation": {
                        "roll": -0.00466917734593153,
                        "pitch": -0.6382401585578918,
                        "yaw": -80.38349151611328
                    }
                },
                "velocity": {
                    "x": 0.9543435573577881,
                    "y": -5.682684898376465,
                    "z": -0.0652332603931427
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.587021350860596,
                "transform": {
                    "location": {
                        "x": 967.9409790039062,
                        "y": 3375.5859375,
                        "z": 369.9365234375
                    },
                    "rotation": {
                        "roll": -0.0034789801575243473,
                        "pitch": -0.6538403034210205,
                        "yaw": -80.37774658203125
                    }
                },
                "velocity": {
                    "x": 1.0890384912490845,
                    "y": -6.495946407318115,
                    "z": -0.07433238625526428
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.954709529876709,
                "transform": {
                    "location": {
                        "x": 976.7850341796875,
                        "y": 3283.44140625,
                        "z": 368.48187255859375
                    },
                    "rotation": {
                        "roll": -0.2507018744945526,
                        "pitch": 1.232664704322815,
                        "yaw": 84.07398223876953
                    }
                },
                "velocity": {
                    "x": 0.3255369961261749,
                    "y": 5.944465637207031,
                    "z": 0.1261674463748932
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0502290725708,
                "transform": {
                    "location": {
                        "x": 978.16162109375,
                        "y": 3332.75244140625,
                        "z": 369.3659362792969
                    },
                    "rotation": {
                        "roll": 0.00010788206418510526,
                        "pitch": -0.8930676579475403,
                        "yaw": -80.84843444824219
                    }
                },
                "velocity": {
                    "x": 1.2800319194793701,
                    "y": -7.946845054626465,
                    "z": -0.12392877042293549
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049541473388672,
                "transform": {
                    "location": {
                        "x": 974.952880859375,
                        "y": 3332.23583984375,
                        "z": 369.3658752441406
                    },
                    "rotation": {
                        "roll": -0.0005798626807518303,
                        "pitch": -0.8926032185554504,
                        "yaw": -80.84455871582031
                    }
                },
                "velocity": {
                    "x": 1.280550479888916,
                    "y": -7.9460649490356445,
                    "z": -0.1239001452922821
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.777099609375,
                        "y": 3422.287841796875,
                        "z": 370.5235595703125
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256713867188,
                        "y": 3438.747802734375,
                        "z": 370.5603942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.123103618621826,
                "transform": {
                    "location": {
                        "x": 978.5565185546875,
                        "y": 3269.253662109375,
                        "z": 368.1661376953125
                    },
                    "rotation": {
                        "roll": 0.0050381021574139595,
                        "pitch": 1.3627183437347412,
                        "yaw": 92.830322265625
                    }
                },
                "velocity": {
                    "x": -0.1131584420800209,
                    "y": 2.119523286819458,
                    "z": 0.04883329197764397
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.689108848571777,
                "transform": {
                    "location": {
                        "x": 974.3055419921875,
                        "y": 3313.90625,
                        "z": 369.0723876953125
                    },
                    "rotation": {
                        "roll": -0.07623293250799179,
                        "pitch": 0.6993361711502075,
                        "yaw": 98.18579864501953
                    }
                },
                "velocity": {
                    "x": -1.2504674196243286,
                    "y": 8.597395896911621,
                    "z": 0.14739473164081573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.750528335571289,
                "transform": {
                    "location": {
                        "x": 970.8156127929688,
                        "y": 3336.22119140625,
                        "z": 369.4352722167969
                    },
                    "rotation": {
                        "roll": -0.0021056593395769596,
                        "pitch": 0.8892427682876587,
                        "yaw": 99.11563110351562
                    }
                },
                "velocity": {
                    "x": -1.2298592329025269,
                    "y": 7.651397705078125,
                    "z": 0.11935125291347504
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02733325958252,
                "transform": {
                    "location": {
                        "x": 968.2033081054688,
                        "y": 3352.461181640625,
                        "z": 369.6685791015625
                    },
                    "rotation": {
                        "roll": -0.0013427851954475045,
                        "pitch": 0.764188826084137,
                        "yaw": 99.15791320800781
                    }
                },
                "velocity": {
                    "x": -1.2756701707839966,
                    "y": 7.924615383148193,
                    "z": 0.1058834046125412
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.207878828048706,
                "transform": {
                    "location": {
                        "x": 955.762451171875,
                        "y": 3404.309814453125,
                        "z": 370.222412109375
                    },
                    "rotation": {
                        "roll": -0.004150389693677425,
                        "pitch": -0.030086981132626534,
                        "yaw": 99.12330627441406
                    }
                },
                "velocity": {
                    "x": -0.18968909978866577,
                    "y": 1.1928495168685913,
                    "z": 0.009963665157556534
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.5639691352844238,
                "transform": {
                    "location": {
                        "x": 957.2073364257812,
                        "y": 3395.337158203125,
                        "z": 370.1494445800781
                    },
                    "rotation": {
                        "roll": 0.000566400121897459,
                        "pitch": 0.5707647204399109,
                        "yaw": 99.1443862915039
                    }
                },
                "velocity": {
                    "x": -0.2491762340068817,
                    "y": 1.5439249277114868,
                    "z": 0.014375495724380016
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.47411271929740906,
        "expert_target_speed": 10.0,
        "target_point": [
            14.649970666529576,
            1.1295898849307981
        ],
        "target_point_next": [
            65.64898943856139,
            1.4379378331737858
        ]
    },
    "110": {
        "acceleration": [
            -1.6319704055786133,
            3.2638168334960938,
            0.039077699184417725
        ],
        "angular_velocity": [
            -0.28879615664482117,
            0.03254608437418938,
            4.240473747253418
        ],
        "forward_vector": [
            -0.1706908494234085,
            0.9850230813026428,
            0.024376004934310913
        ],
        "right_vector": [
            -0.985275387763977,
            -0.17087747156620026,
            0.005774646531790495
        ],
        "location": [
            969.4263916015625,
            3331.515625,
            369.3619689941406
        ],
        "rotation": [
            -0.3309630751609802,
            1.3967804908752441,
            99.83094024658203
        ],
        "velocity": [
            -2.5704431533813477,
            14.803630828857422,
            0.23148927092552185
        ],
        "speed": 15.025134399460889,
        "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": 65.41063690185547,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.1397705078125,
                3395.757080078125,
                370.1531677246094
            ],
            "velocity": [
                -0.29338139295578003,
                1.8230459690093994,
                0.014721021056175232
            ],
            "speed_kmh": 6.647618068216825,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.335344314575195,
                "transform": {
                    "location": {
                        "x": 971.3411254882812,
                        "y": 3374.962158203125,
                        "z": 369.9630126953125
                    },
                    "rotation": {
                        "roll": 0.0017481592949479818,
                        "pitch": -0.46596914529800415,
                        "yaw": -80.53910827636719
                    }
                },
                "velocity": {
                    "x": 1.3540128469467163,
                    "y": -8.22406005859375,
                    "z": -0.09723023325204849
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.576540470123291,
                "transform": {
                    "location": {
                        "x": 968.232421875,
                        "y": 3373.842529296875,
                        "z": 369.9161682128906
                    },
                    "rotation": {
                        "roll": -0.0005188061622902751,
                        "pitch": -0.6365053057670593,
                        "yaw": -80.54186248779297
                    }
                },
                "velocity": {
                    "x": 1.2361220121383667,
                    "y": -7.474510192871094,
                    "z": -0.08758954703807831
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.716458797454834,
                "transform": {
                    "location": {
                        "x": 976.8701171875,
                        "y": 3284.98486328125,
                        "z": 368.5148010253906
                    },
                    "rotation": {
                        "roll": -0.1824950873851776,
                        "pitch": 1.2295774221420288,
                        "yaw": 86.62187957763672
                    }
                },
                "velocity": {
                    "x": 0.2152128517627716,
                    "y": 6.711517810821533,
                    "z": 0.1415179967880249
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05017375946045,
                "transform": {
                    "location": {
                        "x": 978.481689453125,
                        "y": 3330.764892578125,
                        "z": 369.3348083496094
                    },
                    "rotation": {
                        "roll": 0.0003354137297719717,
                        "pitch": -0.8934911489486694,
                        "yaw": -80.85014343261719
                    }
                },
                "velocity": {
                    "x": 1.2788472175598145,
                    "y": -7.946967124938965,
                    "z": -0.124755859375
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.051478385925293,
                "transform": {
                    "location": {
                        "x": 975.2731323242188,
                        "y": 3330.248291015625,
                        "z": 369.3347473144531
                    },
                    "rotation": {
                        "roll": 0.0007300652214325964,
                        "pitch": -0.8935253024101257,
                        "yaw": -80.84785461425781
                    }
                },
                "velocity": {
                    "x": 1.2804991006851196,
                    "y": -7.948007106781006,
                    "z": -0.12571512162685394
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.6990966796875,
                        "y": 3422.768310546875,
                        "z": 370.489013671875
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256713867188,
                        "y": 3438.747802734375,
                        "z": 370.5603942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5237447619438171,
                "transform": {
                    "location": {
                        "x": 978.5480346679688,
                        "y": 3269.41357421875,
                        "z": 368.16949462890625
                    },
                    "rotation": {
                        "roll": 0.006296711508184671,
                        "pitch": 1.166725993156433,
                        "yaw": 92.78565979003906
                    }
                },
                "velocity": {
                    "x": -0.02617572247982025,
                    "y": 0.5229467749595642,
                    "z": 0.012250985950231552
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.487521171569824,
                "transform": {
                    "location": {
                        "x": 973.9808349609375,
                        "y": 3316.1318359375,
                        "z": 369.10882568359375
                    },
                    "rotation": {
                        "roll": -0.0427246131002903,
                        "pitch": 1.0532629489898682,
                        "yaw": 98.33052062988281
                    }
                },
                "velocity": {
                    "x": -1.3785865306854248,
                    "y": 9.385519981384277,
                    "z": 0.1567983329296112
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.733745574951172,
                "transform": {
                    "location": {
                        "x": 970.509033203125,
                        "y": 3338.1279296875,
                        "z": 369.4642639160156
                    },
                    "rotation": {
                        "roll": -0.0005798825877718627,
                        "pitch": 0.8484597206115723,
                        "yaw": 99.15145874023438
                    }
                },
                "velocity": {
                    "x": -1.2285106182098389,
                    "y": 7.634673118591309,
                    "z": 0.11552289873361588
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036858558654785,
                "transform": {
                    "location": {
                        "x": 967.8843383789062,
                        "y": 3354.443603515625,
                        "z": 369.6950988769531
                    },
                    "rotation": {
                        "roll": -0.00042721867794170976,
                        "pitch": 0.7678976058959961,
                        "yaw": 99.12947845458984
                    }
                },
                "velocity": {
                    "x": -1.2769643068313599,
                    "y": 7.934041500091553,
                    "z": 0.10697862505912781
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.425258755683899,
                "transform": {
                    "location": {
                        "x": 955.7100830078125,
                        "y": 3404.6357421875,
                        "z": 370.2248840332031
                    },
                    "rotation": {
                        "roll": 0.0004112020833417773,
                        "pitch": -0.0254766047000885,
                        "yaw": 99.13898468017578
                    }
                },
                "velocity": {
                    "x": -0.22714005410671234,
                    "y": 1.407002568244934,
                    "z": 0.01066944096237421
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.8465605974197388,
                "transform": {
                    "location": {
                        "x": 957.1397705078125,
                        "y": 3395.757080078125,
                        "z": 370.1531677246094
                    },
                    "rotation": {
                        "roll": -0.0007629629108123481,
                        "pitch": 0.5576644539833069,
                        "yaw": 99.14308166503906
                    }
                },
                "velocity": {
                    "x": -0.29338139295578003,
                    "y": 1.8230459690093994,
                    "z": 0.014721021056175232
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39672836661338806,
        "expert_target_speed": 10.0,
        "target_point": [
            11.029973507656122,
            0.8970423590610477
        ],
        "target_point_next": [
            62.026243243795605,
            0.2842886025302125
        ]
    },
    "115": {
        "acceleration": [
            -1.708989143371582,
            2.7524948120117188,
            0.050215721130371094
        ],
        "angular_velocity": [
            -0.2871222198009491,
            0.02427147701382637,
            4.431660175323486
        ],
        "forward_vector": [
            -0.1893228441476822,
            0.9816457629203796,
            0.022987723350524902
        ],
        "right_vector": [
            -0.9818587899208069,
            -0.18951036036014557,
            0.006252472288906574
        ],
        "location": [
            968.73388671875,
            3335.310791015625,
            369.4216613769531
        ],
        "rotation": [
            -0.35833731293678284,
            1.3172155618667603,
            100.91619110107422
        ],
        "velocity": [
            -2.9859602451324463,
            15.517172813415527,
            0.24352772533893585
        ],
        "speed": 15.801854660352795,
        "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": 62.03749465942383,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.0626220703125,
                3396.236083984375,
                370.1572265625
            ],
            "velocity": [
                -0.3218146562576294,
                1.9995462894439697,
                0.01763829216361046
            ],
            "speed_kmh": 7.291276462435442,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.9431762695312,
                        "y": 3414.256103515625,
                        "z": 370.6129150390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.7344970703125,
                        "y": 3413.739990234375,
                        "z": 370.6129150390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.12720012664795,
                "transform": {
                    "location": {
                        "x": 971.6805419921875,
                        "y": 3372.903564453125,
                        "z": 369.9402770996094
                    },
                    "rotation": {
                        "roll": 0.0005472481716424227,
                        "pitch": -0.6258843541145325,
                        "yaw": -80.65099334716797
                    }
                },
                "velocity": {
                    "x": 1.3165829181671143,
                    "y": -8.019287109375,
                    "z": -0.09502018988132477
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.65423583984375,
                "transform": {
                    "location": {
                        "x": 968.5579223632812,
                        "y": 3371.874267578125,
                        "z": 369.89288330078125
                    },
                    "rotation": {
                        "roll": -0.000946063781157136,
                        "pitch": -0.6235074400901794,
                        "yaw": -80.66948699951172
                    }
                },
                "velocity": {
                    "x": 1.4030698537826538,
                    "y": -8.539154052734375,
                    "z": -0.10016565024852753
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.573085784912109,
                "transform": {
                    "location": {
                        "x": 976.9301147460938,
                        "y": 3286.78076171875,
                        "z": 368.552490234375
                    },
                    "rotation": {
                        "roll": -0.14984136819839478,
                        "pitch": 1.2162790298461914,
                        "yaw": 88.19168090820312
                    }
                },
                "velocity": {
                    "x": 0.1624971330165863,
                    "y": 7.569689750671387,
                    "z": 0.1581844687461853
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.046804428100586,
                "transform": {
                    "location": {
                        "x": 978.801513671875,
                        "y": 3328.779296875,
                        "z": 369.3030700683594
                    },
                    "rotation": {
                        "roll": -6.105267675593495e-05,
                        "pitch": -0.9194322228431702,
                        "yaw": -80.85218048095703
                    }
                },
                "velocity": {
                    "x": 1.2791805267333984,
                    "y": -7.943464756011963,
                    "z": -0.12703822553157806
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045873641967773,
                "transform": {
                    "location": {
                        "x": 975.5928955078125,
                        "y": 3328.262451171875,
                        "z": 369.3031311035156
                    },
                    "rotation": {
                        "roll": 0.0003453958488535136,
                        "pitch": -0.9190360307693481,
                        "yaw": -80.85307312011719
                    }
                },
                "velocity": {
                    "x": 1.2780094146728516,
                    "y": -7.942715167999268,
                    "z": -0.12669497728347778
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.5662841796875,
                        "y": 3423.588623046875,
                        "z": 370.4302978515625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256713867188,
                        "y": 3438.747802734375,
                        "z": 370.5603942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.503456711769104,
                "transform": {
                    "location": {
                        "x": 978.5340576171875,
                        "y": 3269.678466796875,
                        "z": 368.17584228515625
                    },
                    "rotation": {
                        "roll": 0.0005410279263742268,
                        "pitch": 1.4034398794174194,
                        "yaw": 92.82027435302734
                    }
                },
                "velocity": {
                    "x": -0.0791812390089035,
                    "y": 1.5009675025939941,
                    "z": 0.0347701720893383
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.259201049804688,
                "transform": {
                    "location": {
                        "x": 973.6036987304688,
                        "y": 3318.640869140625,
                        "z": 369.1496276855469
                    },
                    "rotation": {
                        "roll": -0.07550052553415298,
                        "pitch": 1.2700258493423462,
                        "yaw": 98.64411163330078
                    }
                },
                "velocity": {
                    "x": -1.5547305345535278,
                    "y": 10.139323234558105,
                    "z": 0.16776937246322632
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.78035831451416,
                "transform": {
                    "location": {
                        "x": 970.20068359375,
                        "y": 3340.044189453125,
                        "z": 369.49273681640625
                    },
                    "rotation": {
                        "roll": 0.00041759241139516234,
                        "pitch": 0.8297722935676575,
                        "yaw": 99.12786102294922
                    }
                },
                "velocity": {
                    "x": -1.2355177402496338,
                    "y": 7.680830478668213,
                    "z": 0.11098144203424454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.031756401062012,
                "transform": {
                    "location": {
                        "x": 967.5651245117188,
                        "y": 3356.426513671875,
                        "z": 369.72076416015625
                    },
                    "rotation": {
                        "roll": -9.152125858236104e-05,
                        "pitch": 0.7285147905349731,
                        "yaw": 99.15724182128906
                    }
                },
                "velocity": {
                    "x": -1.2762832641601562,
                    "y": 7.929037094116211,
                    "z": 0.1028614193201065
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.640025019645691,
                "transform": {
                    "location": {
                        "x": 955.6490478515625,
                        "y": 3405.01513671875,
                        "z": 370.2276916503906
                    },
                    "rotation": {
                        "roll": 0.0001861293421825394,
                        "pitch": -0.024868717417120934,
                        "yaw": 99.13316345214844
                    }
                },
                "velocity": {
                    "x": -0.26016244292259216,
                    "y": 1.6192203760147095,
                    "z": 0.011087112128734589
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.0253543853759766,
                "transform": {
                    "location": {
                        "x": 957.0626220703125,
                        "y": 3396.236083984375,
                        "z": 370.1572265625
                    },
                    "rotation": {
                        "roll": 0.0004016961029265076,
                        "pitch": 0.6037545204162598,
                        "yaw": 99.14334869384766
                    }
                },
                "velocity": {
                    "x": -0.3218146562576294,
                    "y": 1.9995462894439697,
                    "z": 0.01763829216361046
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3109014928340912,
        "expert_target_speed": 10.0,
        "target_point": [
            58.16286666396075,
            -0.851798177527149
        ],
        "target_point_next": [
            109.13837200904025,
            -2.4303607494579786
        ]
    },
    "120": {
        "acceleration": [
            -1.4344024658203125,
            2.1120834350585938,
            -0.034610629081726074
        ],
        "angular_velocity": [
            -0.4968707263469696,
            -0.24268098175525665,
            3.628981828689575
        ],
        "forward_vector": [
            -0.2073976844549179,
            0.9780323505401611,
            0.02094818651676178
        ],
        "right_vector": [
            -0.9782000780105591,
            -0.20756849646568298,
            0.006314524449408054
        ],
        "location": [
            967.936279296875,
            3339.274658203125,
            369.4828186035156
        ],
        "rotation": [
            -0.36187744140625,
            1.2003304958343506,
            101.9725570678711
        ],
        "velocity": [
            -3.394113779067993,
            16.141130447387695,
            0.24095025658607483
        ],
        "speed": 16.49412320994497,
        "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": 58.519439697265625,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.9791259765625,
                3396.755126953125,
                370.1617736816406
            ],
            "velocity": [
                -0.3597885072231293,
                2.2365286350250244,
                0.018621062859892845
            ],
            "speed_kmh": 8.155295141539403,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.2724609375,
                        "y": 3412.209716796875,
                        "z": 370.4019470214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.41665518283843994,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.063720703125,
                        "y": 3411.693603515625,
                        "z": 370.4019775390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.41665518283843994,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.828983306884766,
                "transform": {
                    "location": {
                        "x": 972.0000610351562,
                        "y": 3370.9560546875,
                        "z": 369.9178771972656
                    },
                    "rotation": {
                        "roll": 0.0016607890138402581,
                        "pitch": -0.6865773797035217,
                        "yaw": -80.69148254394531
                    }
                },
                "velocity": {
                    "x": 1.2591509819030762,
                    "y": -7.7265167236328125,
                    "z": -0.0919359028339386
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.36760425567627,
                "transform": {
                    "location": {
                        "x": 968.904296875,
                        "y": 3369.763427734375,
                        "z": 369.8685607910156
                    },
                    "rotation": {
                        "roll": -0.00042728890548460186,
                        "pitch": -0.6626580953598022,
                        "yaw": -80.73368835449219
                    }
                },
                "velocity": {
                    "x": 1.3467793464660645,
                    "y": -8.257933616638184,
                    "z": -0.09756534546613693
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.27249813079834,
                "transform": {
                    "location": {
                        "x": 976.9256591796875,
                        "y": 3288.763427734375,
                        "z": 368.5938720703125
                    },
                    "rotation": {
                        "roll": -0.11639400571584702,
                        "pitch": 1.2031104564666748,
                        "yaw": 90.63311004638672
                    }
                },
                "velocity": {
                    "x": -0.27179422974586487,
                    "y": 8.26627254486084,
                    "z": 0.170536071062088
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048569679260254,
                "transform": {
                    "location": {
                        "x": 979.1212158203125,
                        "y": 3326.79345703125,
                        "z": 369.2711181640625
                    },
                    "rotation": {
                        "roll": -0.0011901558609679341,
                        "pitch": -0.9265151023864746,
                        "yaw": -80.85572814941406
                    }
                },
                "velocity": {
                    "x": 1.2787115573883057,
                    "y": -7.94527006149292,
                    "z": -0.13057228922843933
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049081802368164,
                "transform": {
                    "location": {
                        "x": 975.9122924804688,
                        "y": 3326.2763671875,
                        "z": 369.2710876464844
                    },
                    "rotation": {
                        "roll": 0.0021560604218393564,
                        "pitch": -0.9265970587730408,
                        "yaw": -80.86095428466797
                    }
                },
                "velocity": {
                    "x": 1.2770146131515503,
                    "y": -7.946085453033447,
                    "z": -0.1291264146566391
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.460205078125,
                        "y": 3424.244873046875,
                        "z": 370.3833923339844
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256713867188,
                        "y": 3438.747802734375,
                        "z": 370.5603942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5293428897857666,
                "transform": {
                    "location": {
                        "x": 978.5067138671875,
                        "y": 3270.184326171875,
                        "z": 368.1875305175781
                    },
                    "rotation": {
                        "roll": 0.0020365891978144646,
                        "pitch": 1.458033561706543,
                        "yaw": 92.98536682128906
                    }
                },
                "velocity": {
                    "x": -0.13605615496635437,
                    "y": 2.5250205993652344,
                    "z": 0.0577552504837513
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.977285385131836,
                "transform": {
                    "location": {
                        "x": 973.2344360351562,
                        "y": 3321.0380859375,
                        "z": 369.1907043457031
                    },
                    "rotation": {
                        "roll": -0.04965214431285858,
                        "pitch": 0.7561292052268982,
                        "yaw": 98.8026123046875
                    }
                },
                "velocity": {
                    "x": -1.375659465789795,
                    "y": 8.870073318481445,
                    "z": 0.14498445391654968
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.741092681884766,
                "transform": {
                    "location": {
                        "x": 969.8924560546875,
                        "y": 3341.959716796875,
                        "z": 369.5204162597656
                    },
                    "rotation": {
                        "roll": 0.0006912280223332345,
                        "pitch": 0.8246086835861206,
                        "yaw": 99.15866088867188
                    }
                },
                "velocity": {
                    "x": -1.2294659614562988,
                    "y": 7.642024517059326,
                    "z": 0.1113160103559494
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.032907485961914,
                "transform": {
                    "location": {
                        "x": 967.2461547851562,
                        "y": 3358.40869140625,
                        "z": 369.7459716796875
                    },
                    "rotation": {
                        "roll": -6.107601075200364e-05,
                        "pitch": 0.6973007917404175,
                        "yaw": 99.13270568847656
                    }
                },
                "velocity": {
                    "x": -1.276731014251709,
                    "y": 7.9301958084106445,
                    "z": 0.09779096394777298
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.851191759109497,
                "transform": {
                    "location": {
                        "x": 955.57958984375,
                        "y": 3405.447021484375,
                        "z": 370.2308654785156
                    },
                    "rotation": {
                        "roll": 0.0012364777503535151,
                        "pitch": -0.021303359419107437,
                        "yaw": 99.13314056396484
                    }
                },
                "velocity": {
                    "x": -0.2938193678855896,
                    "y": 1.8276727199554443,
                    "z": 0.013922300189733505
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.265359878540039,
                "transform": {
                    "location": {
                        "x": 956.9791259765625,
                        "y": 3396.755126953125,
                        "z": 370.1617736816406
                    },
                    "rotation": {
                        "roll": -0.0008240116876550019,
                        "pitch": 0.5653688907623291,
                        "yaw": 99.1424331665039
                    }
                },
                "velocity": {
                    "x": -0.3597885072231293,
                    "y": 2.2365286350250244,
                    "z": 0.018621062859892845
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.20547756552696228,
        "expert_target_speed": 10.0,
        "target_point": [
            54.094178734333276,
            -1.8819028767805364
        ],
        "target_point_next": [
            105.03191897315173,
            -4.399962515150076
        ]
    },
    "125": {
        "acceleration": [
            -0.4930877685546875,
            1.7789459228515625,
            0.01954197883605957
        ],
        "angular_velocity": [
            -0.05633657053112984,
            -0.8340176939964294,
            -0.31218090653419495
        ],
        "forward_vector": [
            -0.21420259773731232,
            0.9765961170196533,
            0.019427625462412834
        ],
        "right_vector": [
            -0.9767574667930603,
            -0.21431371569633484,
            0.003806527005508542
        ],
        "location": [
            967.0588989257812,
            3343.369384765625,
            369.54296875
        ],
        "rotation": [
            -0.2181396335363388,
            1.11319100856781,
            102.37112426757812
        ],
        "velocity": [
            -3.6027629375457764,
            16.594619750976562,
            0.24117982387542725
        ],
        "speed": 16.981204476233565,
        "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": 54.92457580566406,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.8849487304688,
                3397.33984375,
                370.1667785644531
            ],
            "velocity": [
                -0.3906790018081665,
                2.4287407398223877,
                0.02164236083626747
            ],
            "speed_kmh": 8.856204916294661,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.971324443817139,
                "transform": {
                    "location": {
                        "x": 965.5780029296875,
                        "y": 3410.323974609375,
                        "z": 370.266357421875
                    },
                    "rotation": {
                        "roll": -0.00756833516061306,
                        "pitch": -0.552705705165863,
                        "yaw": -80.77311706542969
                    }
                },
                "velocity": {
                    "x": 0.993000328540802,
                    "y": -5.883790969848633,
                    "z": -0.22730879485607147
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.025270462036133,
                "transform": {
                    "location": {
                        "x": 962.3690185546875,
                        "y": 3409.80810546875,
                        "z": 370.2677001953125
                    },
                    "rotation": {
                        "roll": -0.011657783761620522,
                        "pitch": -0.7401670813560486,
                        "yaw": -80.78446960449219
                    }
                },
                "velocity": {
                    "x": 0.9842293858528137,
                    "y": -5.941187381744385,
                    "z": -0.19357283413410187
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.170097351074219,
                "transform": {
                    "location": {
                        "x": 972.3221435546875,
                        "y": 3368.97802734375,
                        "z": 369.894287109375
                    },
                    "rotation": {
                        "roll": 0.0017133639194071293,
                        "pitch": -0.6406512260437012,
                        "yaw": -80.75659942626953
                    }
                },
                "velocity": {
                    "x": 1.308699607849121,
                    "y": -8.06406021118164,
                    "z": -0.09347458928823471
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.066290855407715,
                "transform": {
                    "location": {
                        "x": 969.2333374023438,
                        "y": 3367.7431640625,
                        "z": 369.8449401855469
                    },
                    "rotation": {
                        "roll": 0.00010624879359966144,
                        "pitch": -0.6733404994010925,
                        "yaw": -80.79093933105469
                    }
                },
                "velocity": {
                    "x": 1.2921148538589478,
                    "y": -7.961570739746094,
                    "z": -0.09422347694635391
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.99845027923584,
                "transform": {
                    "location": {
                        "x": 976.8461303710938,
                        "y": 3290.923095703125,
                        "z": 368.6383972167969
                    },
                    "rotation": {
                        "roll": -0.0696105882525444,
                        "pitch": 1.185228943824768,
                        "yaw": 92.61476135253906
                    }
                },
                "velocity": {
                    "x": -0.47304242849349976,
                    "y": 8.984163284301758,
                    "z": 0.18209198117256165
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04951000213623,
                "transform": {
                    "location": {
                        "x": 979.4366455078125,
                        "y": 3324.80615234375,
                        "z": 369.23883056640625
                    },
                    "rotation": {
                        "roll": 0.013059156015515327,
                        "pitch": -0.9250466227531433,
                        "yaw": -80.98941802978516
                    }
                },
                "velocity": {
                    "x": 1.2548974752426147,
                    "y": -7.95003080368042,
                    "z": -0.12983831763267517
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049814224243164,
                "transform": {
                    "location": {
                        "x": 976.2276611328125,
                        "y": 3324.289306640625,
                        "z": 369.23883056640625
                    },
                    "rotation": {
                        "roll": 0.01247787568718195,
                        "pitch": -0.9259687066078186,
                        "yaw": -80.99151611328125
                    }
                },
                "velocity": {
                    "x": 1.2547721862792969,
                    "y": -7.95035457611084,
                    "z": -0.13009747862815857
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.2615356445312,
                        "y": 3425.478759765625,
                        "z": 370.3912658691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.0703125,
                        "y": 3439.09326171875,
                        "z": 370.5060729980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.4205322265625,
                        "y": 3273.268798828125,
                        "z": 368.2586975097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2872241735458374,
                        "yaw": 93.52446746826172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.224761009216309,
                "transform": {
                    "location": {
                        "x": 972.9285888671875,
                        "y": 3322.99169921875,
                        "z": 369.22393798828125
                    },
                    "rotation": {
                        "roll": -0.0399169959127903,
                        "pitch": 0.340437114238739,
                        "yaw": 98.92648315429688
                    }
                },
                "velocity": {
                    "x": -1.1278890371322632,
                    "y": 7.1352458000183105,
                    "z": 0.11534907668828964
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.759249210357666,
                "transform": {
                    "location": {
                        "x": 969.5848999023438,
                        "y": 3343.87109375,
                        "z": 369.5481872558594
                    },
                    "rotation": {
                        "roll": 0.0005762241780757904,
                        "pitch": 0.8295059204101562,
                        "yaw": 99.12720489501953
                    }
                },
                "velocity": {
                    "x": -1.2317423820495605,
                    "y": 7.660050392150879,
                    "z": 0.11128940433263779
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0350341796875,
                "transform": {
                    "location": {
                        "x": 966.9269409179688,
                        "y": 3360.391845703125,
                        "z": 369.7701721191406
                    },
                    "rotation": {
                        "roll": 0.0002906249137595296,
                        "pitch": 0.7009276151657104,
                        "yaw": 99.15666198730469
                    }
                },
                "velocity": {
                    "x": -1.276710867881775,
                    "y": 7.932373523712158,
                    "z": 0.09603749960660934
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.0619611740112305,
                "transform": {
                    "location": {
                        "x": 955.5017700195312,
                        "y": 3405.93115234375,
                        "z": 370.2345275878906
                    },
                    "rotation": {
                        "roll": -0.0011291499249637127,
                        "pitch": -0.021173585206270218,
                        "yaw": 99.13544464111328
                    }
                },
                "velocity": {
                    "x": -0.3273114562034607,
                    "y": 2.0357677936553955,
                    "z": 0.01416491437703371
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.460056781768799,
                "transform": {
                    "location": {
                        "x": 956.8849487304688,
                        "y": 3397.33984375,
                        "z": 370.1667785644531
                    },
                    "rotation": {
                        "roll": -0.0005188285722397268,
                        "pitch": 0.5925871729850769,
                        "yaw": 99.14244842529297
                    }
                },
                "velocity": {
                    "x": -0.3906790018081665,
                    "y": 2.4287407398223877,
                    "z": 0.02164236083626747
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1153169572353363,
        "expert_target_speed": 10.0,
        "target_point": [
            49.89215817190021,
            -2.2378814936472207
        ],
        "target_point_next": [
            100.81115031041033,
            -5.110205392178791
        ]
    },
    "130": {
        "acceleration": [
            -0.11178970336914062,
            1.7952728271484375,
            -0.004208385944366455
        ],
        "angular_velocity": [
            -0.35758259892463684,
            -0.7300176024436951,
            -1.2748398780822754
        ],
        "forward_vector": [
            -0.2100132256746292,
            0.9775331020355225,
            0.017987113445997238
        ],
        "right_vector": [
            -0.9776885509490967,
            -0.2100585699081421,
            0.0006486400961875916
        ],
        "location": [
            966.1488647460938,
            3347.575439453125,
            369.6035461425781
        ],
        "rotation": [
            -0.03717035800218582,
            1.0306413173675537,
            102.1251220703125
        ],
        "velocity": [
            -3.666748523712158,
            17.04148292541504,
            0.23827160894870758
        ],
        "speed": 17.431499792999958,
        "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": 51.256065368652344,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.7843017578125,
                3397.965576171875,
                370.1723327636719
            ],
            "velocity": [
                -0.4045046269893646,
                2.512932777404785,
                0.02121569588780403
            ],
            "speed_kmh": 9.16332974121363,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.376620292663574,
                "transform": {
                    "location": {
                        "x": 975.853515625,
                        "y": 3278.216064453125,
                        "z": 368.6571350097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.283774971961975,
                        "yaw": 100.12398529052734
                    }
                },
                "velocity": {
                    "x": -1.6332143545150757,
                    "y": 9.14666748046875,
                    "z": -1.2617826461791992
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.256110668182373,
                "transform": {
                    "location": {
                        "x": 965.8342895507812,
                        "y": 3408.810546875,
                        "z": 370.248046875
                    },
                    "rotation": {
                        "roll": -0.0067138671875,
                        "pitch": -0.4621579051017761,
                        "yaw": -80.4413070678711
                    }
                },
                "velocity": {
                    "x": 1.059293270111084,
                    "y": -6.165671348571777,
                    "z": -0.03628332167863846
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.302989482879639,
                "transform": {
                    "location": {
                        "x": 962.6264038085938,
                        "y": 3408.280517578125,
                        "z": 370.2558898925781
                    },
                    "rotation": {
                        "roll": -0.01516723446547985,
                        "pitch": -0.5147640109062195,
                        "yaw": -80.46892547607422
                    }
                },
                "velocity": {
                    "x": 1.0557781457901,
                    "y": -6.2138848304748535,
                    "z": -0.025354137644171715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.021254539489746,
                "transform": {
                    "location": {
                        "x": 972.6476440429688,
                        "y": 3366.9736328125,
                        "z": 369.8709411621094
                    },
                    "rotation": {
                        "roll": 0.00039249673136509955,
                        "pitch": -0.6803551316261292,
                        "yaw": -80.77954864501953
                    }
                },
                "velocity": {
                    "x": 1.2827434539794922,
                    "y": -7.9174346923828125,
                    "z": -0.09657406806945801
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.927968978881836,
                "transform": {
                    "location": {
                        "x": 969.5371704101562,
                        "y": 3365.87109375,
                        "z": 369.8228454589844
                    },
                    "rotation": {
                        "roll": 0.00043254997581243515,
                        "pitch": -0.7143899202346802,
                        "yaw": -80.82830047607422
                    }
                },
                "velocity": {
                    "x": 1.1066864728927612,
                    "y": -6.838508129119873,
                    "z": -0.08250383287668228
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.753644943237305,
                "transform": {
                    "location": {
                        "x": 976.7073974609375,
                        "y": 3293.26513671875,
                        "z": 368.68585205078125
                    },
                    "rotation": {
                        "roll": -0.0528869703412056,
                        "pitch": 1.1660020351409912,
                        "yaw": 93.9002685546875
                    }
                },
                "velocity": {
                    "x": -0.7466302514076233,
                    "y": 9.723074913024902,
                    "z": 0.19479502737522125
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.046327590942383,
                "transform": {
                    "location": {
                        "x": 979.749267578125,
                        "y": 3322.818603515625,
                        "z": 369.20660400390625
                    },
                    "rotation": {
                        "roll": 0.007080672774463892,
                        "pitch": -0.921385645866394,
                        "yaw": -81.06355285644531
                    }
                },
                "velocity": {
                    "x": 1.2474329471588135,
                    "y": -7.948026657104492,
                    "z": -0.12718617916107178
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.046747207641602,
                "transform": {
                    "location": {
                        "x": 976.5403442382812,
                        "y": 3322.3017578125,
                        "z": 369.20654296875
                    },
                    "rotation": {
                        "roll": 0.009193244390189648,
                        "pitch": -0.9247119426727295,
                        "yaw": -81.0619125366211
                    }
                },
                "velocity": {
                    "x": 1.2477755546569824,
                    "y": -7.948358058929443,
                    "z": -0.1296081840991974
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.1290283203125,
                        "y": 3426.30126953125,
                        "z": 370.3962707519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.9136352539062,
                        "y": 3440.06591796875,
                        "z": 370.5056457519531
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.3401489257812,
                        "y": 3274.91796875,
                        "z": 368.2964782714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2872241735458374,
                        "yaw": 93.52446746826172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.98393440246582,
                "transform": {
                    "location": {
                        "x": 972.6559448242188,
                        "y": 3324.715576171875,
                        "z": 369.2508850097656
                    },
                    "rotation": {
                        "roll": -0.022827135398983955,
                        "pitch": 0.601985514163971,
                        "yaw": 98.99119567871094
                    }
                },
                "velocity": {
                    "x": -1.0943758487701416,
                    "y": 6.8967485427856445,
                    "z": 0.11196878552436829
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.761084079742432,
                "transform": {
                    "location": {
                        "x": 969.276611328125,
                        "y": 3345.787353515625,
                        "z": 369.5760192871094
                    },
                    "rotation": {
                        "roll": -0.0004272781079635024,
                        "pitch": 0.8263093829154968,
                        "yaw": 99.15496826171875
                    }
                },
                "velocity": {
                    "x": -1.2333823442459106,
                    "y": 7.661668300628662,
                    "z": 0.10968662053346634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03097915649414,
                "transform": {
                    "location": {
                        "x": 966.6077270507812,
                        "y": 3362.374267578125,
                        "z": 369.79443359375
                    },
                    "rotation": {
                        "roll": 0.0004065867105964571,
                        "pitch": 0.7007910013198853,
                        "yaw": 99.13460540771484
                    }
                },
                "velocity": {
                    "x": -1.275856375694275,
                    "y": 7.928404808044434,
                    "z": 0.09598756581544876
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.2719995975494385,
                "transform": {
                    "location": {
                        "x": 955.4155883789062,
                        "y": 3406.467041015625,
                        "z": 370.23846435546875
                    },
                    "rotation": {
                        "roll": -0.0005187992355786264,
                        "pitch": -0.021269207820296288,
                        "yaw": 99.13600158691406
                    }
                },
                "velocity": {
                    "x": -0.3608402907848358,
                    "y": 2.2430930137634277,
                    "z": 0.017605800181627274
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.5453693866729736,
                "transform": {
                    "location": {
                        "x": 956.7843017578125,
                        "y": 3397.965576171875,
                        "z": 370.1723327636719
                    },
                    "rotation": {
                        "roll": -0.0010375892743468285,
                        "pitch": 0.6544208526611328,
                        "yaw": 99.14290618896484
                    }
                },
                "velocity": {
                    "x": -0.4045046269893646,
                    "y": 2.512932777404785,
                    "z": 0.02121569588780403
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03583183512091637,
        "expert_target_speed": 10.0,
        "target_point": [
            45.5979340128312,
            -2.02990486174033
        ],
        "target_point_next": [
            96.52878959102728,
            -4.683573087548622
        ]
    },
    "135": {
        "acceleration": [
            0.39142608642578125,
            1.0432052612304688,
            0.001659393310546875
        ],
        "angular_velocity": [
            -0.1544247567653656,
            -0.48023906350135803,
            -1.7543212175369263
        ],
        "forward_vector": [
            -0.20414239168167114,
            0.9787987470626831,
            0.01669841632246971
        ],
        "right_vector": [
            -0.978939414024353,
            -0.20414428412914276,
            -0.0016085546230897307
        ],
        "location": [
            965.233642578125,
            3351.884521484375,
            369.66217041015625
        ],
        "rotation": [
            0.09217628836631775,
            0.9567933082580566,
            101.78096771240234
        ],
        "velocity": [
            -3.636220932006836,
            17.383800506591797,
            0.23271825909614563
        ],
        "speed": 17.760028792751037,
        "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": 47.44468307495117,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.6900634765625,
                3398.55078125,
                370.1775207519531
            ],
            "velocity": [
                -0.37724509835243225,
                2.342911720275879,
                0.019709806889295578
            ],
            "speed_kmh": 8.543413381057432,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.4132080078125,
                        "y": 3280.718994140625,
                        "z": 368.4973449707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2448360919952393,
                        "yaw": 94.13947296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.020519733428955,
                "transform": {
                    "location": {
                        "x": 966.0932006835938,
                        "y": 3407.299072265625,
                        "z": 370.2380676269531
                    },
                    "rotation": {
                        "roll": -0.006957999896258116,
                        "pitch": -0.433074951171875,
                        "yaw": -80.28987121582031
                    }
                },
                "velocity": {
                    "x": 1.0219513177871704,
                    "y": -5.933002948760986,
                    "z": -0.04183536022901535
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.079632759094238,
                "transform": {
                    "location": {
                        "x": 962.8871459960938,
                        "y": 3406.755615234375,
                        "z": 370.2474670410156
                    },
                    "rotation": {
                        "roll": -0.011627206578850746,
                        "pitch": -0.44918736815452576,
                        "yaw": -80.31034088134766
                    }
                },
                "velocity": {
                    "x": 1.028372883796692,
                    "y": -5.991889476776123,
                    "z": -0.04055158048868179
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.965550422668457,
                "transform": {
                    "location": {
                        "x": 972.9654541015625,
                        "y": 3365.01171875,
                        "z": 369.8473205566406
                    },
                    "rotation": {
                        "roll": 0.0007127144490368664,
                        "pitch": -0.7026625275611877,
                        "yaw": -80.8027572631836
                    }
                },
                "velocity": {
                    "x": 1.2713686227798462,
                    "y": -7.862856388092041,
                    "z": -0.09540785849094391
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.034519672393799,
                "transform": {
                    "location": {
                        "x": 969.8117065429688,
                        "y": 3364.173095703125,
                        "z": 369.80218505859375
                    },
                    "rotation": {
                        "roll": -0.0005798629717901349,
                        "pitch": -0.7056267857551575,
                        "yaw": -80.85367584228516
                    }
                },
                "velocity": {
                    "x": 1.1199427843093872,
                    "y": -6.944282531738281,
                    "z": -0.08448165655136108
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.556488037109375,
                "transform": {
                    "location": {
                        "x": 976.5017700195312,
                        "y": 3295.798095703125,
                        "z": 368.73626708984375
                    },
                    "rotation": {
                        "roll": -0.03115840069949627,
                        "pitch": 1.1457163095474243,
                        "yaw": 95.05767822265625
                    }
                },
                "velocity": {
                    "x": -0.9536054134368896,
                    "y": 10.51129150390625,
                    "z": 0.20693105459213257
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049805641174316,
                "transform": {
                    "location": {
                        "x": 980.0570068359375,
                        "y": 3320.83056640625,
                        "z": 369.1744689941406
                    },
                    "rotation": {
                        "roll": 0.027619127184152603,
                        "pitch": -0.9223350286483765,
                        "yaw": -81.23802185058594
                    }
                },
                "velocity": {
                    "x": 1.2104946374893188,
                    "y": -7.957261085510254,
                    "z": -0.1267930567264557
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05020523071289,
                "transform": {
                    "location": {
                        "x": 976.8482055664062,
                        "y": 3320.313720703125,
                        "z": 369.1742858886719
                    },
                    "rotation": {
                        "roll": 0.02583893947303295,
                        "pitch": -0.9262350797653198,
                        "yaw": -81.23695373535156
                    }
                },
                "velocity": {
                    "x": 1.2105381488800049,
                    "y": -7.957601070404053,
                    "z": -0.1303064078092575
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.9305419921875,
                        "y": 3427.534912109375,
                        "z": 370.4039306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.663330078125,
                        "y": 3441.621826171875,
                        "z": 370.50494384765625
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.3401489257812,
                        "y": 3274.91796875,
                        "z": 368.2964782714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2872241735458374,
                        "yaw": 93.52446746826172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.942954063415527,
                "transform": {
                    "location": {
                        "x": 972.3643798828125,
                        "y": 3326.551513671875,
                        "z": 369.27886962890625
                    },
                    "rotation": {
                        "roll": -0.014953617937862873,
                        "pitch": 1.0687811374664307,
                        "yaw": 99.0246353149414
                    }
                },
                "velocity": {
                    "x": -1.2504403591156006,
                    "y": 7.842889308929443,
                    "z": 0.12652131915092468
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.748205184936523,
                "transform": {
                    "location": {
                        "x": 968.9689331054688,
                        "y": 3347.7001953125,
                        "z": 369.60272216796875
                    },
                    "rotation": {
                        "roll": 0.00037446743226610124,
                        "pitch": 0.775779664516449,
                        "yaw": 99.12561798095703
                    }
                },
                "velocity": {
                    "x": -1.2301734685897827,
                    "y": 7.649178981781006,
                    "z": 0.10684341192245483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034626960754395,
                "transform": {
                    "location": {
                        "x": 966.28857421875,
                        "y": 3364.356689453125,
                        "z": 369.81866455078125
                    },
                    "rotation": {
                        "roll": -0.00045779012725688517,
                        "pitch": 0.6990015506744385,
                        "yaw": 99.15758514404297
                    }
                },
                "velocity": {
                    "x": -1.2767524719238281,
                    "y": 7.931961536407471,
                    "z": 0.09546861797571182
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.31636905670166,
                "transform": {
                    "location": {
                        "x": 955.3231811523438,
                        "y": 3407.04150390625,
                        "z": 370.2428283691406
                    },
                    "rotation": {
                        "roll": 0.00035338249290362,
                        "pitch": 0.06798770278692245,
                        "yaw": 99.13558959960938
                    }
                },
                "velocity": {
                    "x": -0.3674444854259491,
                    "y": 2.286973714828491,
                    "z": 0.017349261790513992
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.3731703758239746,
                "transform": {
                    "location": {
                        "x": 956.6900634765625,
                        "y": 3398.55078125,
                        "z": 370.1775207519531
                    },
                    "rotation": {
                        "roll": -0.0010681370040401816,
                        "pitch": 0.7562385201454163,
                        "yaw": 99.14289855957031
                    }
                },
                "velocity": {
                    "x": -0.37724509835243225,
                    "y": 2.342911720275879,
                    "z": 0.019709806889295578
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.039306167513132095,
        "expert_target_speed": 10.0,
        "target_point": [
            41.20412949740996,
            -1.7721523885699506
        ],
        "target_point_next": [
            92.15000488952207,
            -4.119871603279741
        ]
    },
    "140": {
        "acceleration": [
            0.4555940628051758,
            1.1670303344726562,
            -0.029847025871276855
        ],
        "angular_velocity": [
            -0.4153536558151245,
            -0.42266085743904114,
            -2.3362655639648438
        ],
        "forward_vector": [
            -0.19492207467556,
            0.9806951880455017,
            0.015565361827611923
        ],
        "right_vector": [
            -0.9808187484741211,
            -0.19489367306232452,
            -0.003335377434268594
        ],
        "location": [
            964.3361206054688,
            3356.266845703125,
            369.7203674316406
        ],
        "rotation": [
            0.19112657010555267,
            0.8918655514717102,
            101.2415542602539
        ],
        "velocity": [
            -3.535719871520996,
            17.67310905456543,
            0.22697961330413818
        ],
        "speed": 18.02332096658191,
        "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": 43.59243392944336,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.591552734375,
                3399.163330078125,
                370.1827392578125
            ],
            "velocity": [
                -0.4097415804862976,
                2.5453460216522217,
                0.021586932241916656
            ],
            "speed_kmh": 9.281537655345426,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.6367797851562,
                        "y": 3283.4296875,
                        "z": 368.5030517578125
                    },
                    "rotation": {
                        "roll": 5.3372598785017544e-08,
                        "pitch": 1.2024343013763428,
                        "yaw": 94.75452423095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.246666431427002,
                "transform": {
                    "location": {
                        "x": 966.328857421875,
                        "y": 3405.92919921875,
                        "z": 370.22808837890625
                    },
                    "rotation": {
                        "roll": -0.004547121934592724,
                        "pitch": -0.4864802062511444,
                        "yaw": -80.23991394042969
                    }
                },
                "velocity": {
                    "x": 0.891394317150116,
                    "y": -5.170207500457764,
                    "z": -0.04337460920214653
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3434624671936035,
                "transform": {
                    "location": {
                        "x": 963.1265258789062,
                        "y": 3405.365234375,
                        "z": 370.2369079589844
                    },
                    "rotation": {
                        "roll": -0.00888063944876194,
                        "pitch": -0.5486144423484802,
                        "yaw": -80.24723052978516
                    }
                },
                "velocity": {
                    "x": 0.9075242877006531,
                    "y": -5.265671730041504,
                    "z": -0.041142839938402176
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.113812446594238,
                "transform": {
                    "location": {
                        "x": 973.287109375,
                        "y": 3363.021240234375,
                        "z": 369.82281494140625
                    },
                    "rotation": {
                        "roll": 0.0020711380057036877,
                        "pitch": -0.6894529461860657,
                        "yaw": -80.82482147216797
                    }
                },
                "velocity": {
                    "x": 1.2913691997528076,
                    "y": -8.009774208068848,
                    "z": -0.09913173317909241
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.773119926452637,
                "transform": {
                    "location": {
                        "x": 970.1078491210938,
                        "y": 3362.335205078125,
                        "z": 369.779296875
                    },
                    "rotation": {
                        "roll": -0.00015256919141393155,
                        "pitch": -0.6731560826301575,
                        "yaw": -80.85945892333984
                    }
                },
                "velocity": {
                    "x": 1.2356970310211182,
                    "y": -7.673692226409912,
                    "z": -0.09430009871721268
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.401875495910645,
                "transform": {
                    "location": {
                        "x": 976.24169921875,
                        "y": 3298.532958984375,
                        "z": 368.7897033691406
                    },
                    "rotation": {
                        "roll": -0.023010311648249626,
                        "pitch": 1.1232587099075317,
                        "yaw": 95.7948989868164
                    }
                },
                "velocity": {
                    "x": -1.184287190437317,
                    "y": 11.33806324005127,
                    "z": 0.22031091153621674
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047032356262207,
                "transform": {
                    "location": {
                        "x": 980.3568725585938,
                        "y": 3318.841064453125,
                        "z": 369.142333984375
                    },
                    "rotation": {
                        "roll": 0.017639148980379105,
                        "pitch": -0.929527223110199,
                        "yaw": -81.43877410888672
                    }
                },
                "velocity": {
                    "x": 1.1915245056152344,
                    "y": -7.957277774810791,
                    "z": -0.12931771576404572
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04769515991211,
                "transform": {
                    "location": {
                        "x": 977.1480102539062,
                        "y": 3318.32421875,
                        "z": 369.14178466796875
                    },
                    "rotation": {
                        "roll": 0.018123989924788475,
                        "pitch": -0.9386864900588989,
                        "yaw": -81.43780517578125
                    }
                },
                "velocity": {
                    "x": 1.1917318105697632,
                    "y": -7.9578857421875,
                    "z": -0.13127900660037994
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.7322387695312,
                        "y": 3428.76708984375,
                        "z": 370.41162109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.352783203125,
                        "y": 3443.552978515625,
                        "z": 370.50421142578125
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.3401489257812,
                        "y": 3274.91796875,
                        "z": 368.2964782714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2872241735458374,
                        "yaw": 93.52446746826172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.028460502624512,
                "transform": {
                    "location": {
                        "x": 972.0361328125,
                        "y": 3328.607421875,
                        "z": 369.31109619140625
                    },
                    "rotation": {
                        "roll": -0.010070729069411755,
                        "pitch": 1.2758997678756714,
                        "yaw": 99.07987213134766
                    }
                },
                "velocity": {
                    "x": -1.4258043766021729,
                    "y": 8.914040565490723,
                    "z": 0.14163057506084442
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.762495517730713,
                "transform": {
                    "location": {
                        "x": 968.660888671875,
                        "y": 3349.6142578125,
                        "z": 369.6287841796875
                    },
                    "rotation": {
                        "roll": -0.001861577620729804,
                        "pitch": 0.761866569519043,
                        "yaw": 99.16039276123047
                    }
                },
                "velocity": {
                    "x": -1.2342901229858398,
                    "y": 7.663043022155762,
                    "z": 0.10312242060899734
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033223152160645,
                "transform": {
                    "location": {
                        "x": 965.9693603515625,
                        "y": 3366.339599609375,
                        "z": 369.8424377441406
                    },
                    "rotation": {
                        "roll": 8.714434079593047e-05,
                        "pitch": 0.6763253211975098,
                        "yaw": 99.13277435302734
                    }
                },
                "velocity": {
                    "x": -1.2767150402069092,
                    "y": 7.930544376373291,
                    "z": 0.09559939801692963
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.267151117324829,
                "transform": {
                    "location": {
                        "x": 955.232177734375,
                        "y": 3407.606689453125,
                        "z": 370.24713134765625
                    },
                    "rotation": {
                        "roll": -0.0006713881157338619,
                        "pitch": 0.1359139233827591,
                        "yaw": 99.13736724853516
                    }
                },
                "velocity": {
                    "x": -0.36025577783584595,
                    "y": 2.238281488418579,
                    "z": 0.01692240685224533
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.578204870223999,
                "transform": {
                    "location": {
                        "x": 956.591552734375,
                        "y": 3399.163330078125,
                        "z": 370.1827392578125
                    },
                    "rotation": {
                        "roll": 0.0007335407426580787,
                        "pitch": 0.6168821454048157,
                        "yaw": 99.14305877685547
                    }
                },
                "velocity": {
                    "x": -0.4097415804862976,
                    "y": 2.5453460216522217,
                    "z": 0.021586932241916656
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.1132032722234726,
        "expert_target_speed": 10.0,
        "target_point": [
            36.745774263484776,
            -1.4101439584529514
        ],
        "target_point_next": [
            87.71149453314963,
            -3.2781274631988726
        ]
    },
    "145": {
        "acceleration": [
            0.8075809478759766,
            0.7605361938476562,
            -0.01492619514465332
        ],
        "angular_velocity": [
            -0.054344624280929565,
            -0.3423146903514862,
            -3.0313220024108887
        ],
        "forward_vector": [
            -0.18386076390743256,
            0.9828486442565918,
            0.014272323809564114
        ],
        "right_vector": [
            -0.9829505085945129,
            -0.1838134378194809,
            -0.004570926073938608
        ],
        "location": [
            963.469970703125,
            3360.71484375,
            369.7759704589844
        ],
        "rotation": [
            0.26192235946655273,
            0.8177716732025146,
            100.59580993652344
        ],
        "velocity": [
            -3.372985363006592,
            17.89415168762207,
            0.21789975464344025
        ],
        "speed": 18.209274968506694,
        "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": 39.598819732666016,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.5060424804688,
                3399.6943359375,
                370.18768310546875
            ],
            "velocity": [
                -0.3106374740600586,
                1.9298139810562134,
                0.017553366720676422
            ],
            "speed_kmh": 7.037043092194308,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.5447387695312,
                        "y": 3286.365478515625,
                        "z": 368.5492858886719
                    },
                    "rotation": {
                        "roll": 5.3372598785017544e-08,
                        "pitch": 1.2024343013763428,
                        "yaw": 94.75452423095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.70077657699585,
                "transform": {
                    "location": {
                        "x": 966.5537109375,
                        "y": 3404.598388671875,
                        "z": 370.21673583984375
                    },
                    "rotation": {
                        "roll": -0.0013427365338429809,
                        "pitch": -0.4645962715148926,
                        "yaw": -80.4376449584961
                    }
                },
                "velocity": {
                    "x": 0.9372538328170776,
                    "y": -5.623019695281982,
                    "z": -0.045360464602708817
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.530420780181885,
                "transform": {
                    "location": {
                        "x": 963.3543701171875,
                        "y": 3404.015869140625,
                        "z": 370.226318359375
                    },
                    "rotation": {
                        "roll": 0.0014810003340244293,
                        "pitch": -0.47088688611984253,
                        "yaw": -80.35089874267578
                    }
                },
                "velocity": {
                    "x": 0.916854739189148,
                    "y": -5.453721046447754,
                    "z": -0.04314981773495674
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.979183197021484,
                "transform": {
                    "location": {
                        "x": 973.6075439453125,
                        "y": 3361.036376953125,
                        "z": 369.7984619140625
                    },
                    "rotation": {
                        "roll": 0.0015074240509420633,
                        "pitch": -0.7031474709510803,
                        "yaw": -80.83030700683594
                    }
                },
                "velocity": {
                    "x": 1.2715282440185547,
                    "y": -7.8766188621521,
                    "z": -0.0972423329949379
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.795740127563477,
                "transform": {
                    "location": {
                        "x": 970.4375610351562,
                        "y": 3360.286376953125,
                        "z": 369.75396728515625
                    },
                    "rotation": {
                        "roll": -0.000823972572106868,
                        "pitch": -0.6583277583122253,
                        "yaw": -80.85388946533203
                    }
                },
                "velocity": {
                    "x": 1.3971238136291504,
                    "y": -8.683408737182617,
                    "z": -0.10719087719917297
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.209630966186523,
                "transform": {
                    "location": {
                        "x": 975.92529296875,
                        "y": 3301.480224609375,
                        "z": 368.8461608886719
                    },
                    "rotation": {
                        "roll": -0.013366682454943657,
                        "pitch": 1.0986359119415283,
                        "yaw": 96.41535186767578
                    }
                },
                "velocity": {
                    "x": -1.364027976989746,
                    "y": 12.130990028381348,
                    "z": 0.23154160380363464
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050132751464844,
                "transform": {
                    "location": {
                        "x": 980.65380859375,
                        "y": 3316.8515625,
                        "z": 369.1095275878906
                    },
                    "rotation": {
                        "roll": 0.0059190066531300545,
                        "pitch": -0.9466846585273743,
                        "yaw": -81.51677703857422
                    }
                },
                "velocity": {
                    "x": 1.1851733922958374,
                    "y": -7.961328983306885,
                    "z": -0.13134369254112244
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050331115722656,
                "transform": {
                    "location": {
                        "x": 977.445068359375,
                        "y": 3316.334716796875,
                        "z": 369.1088562011719
                    },
                    "rotation": {
                        "roll": 0.005825628060847521,
                        "pitch": -0.9558439254760742,
                        "yaw": -81.51726531982422
                    }
                },
                "velocity": {
                    "x": 1.1844063997268677,
                    "y": -7.961642742156982,
                    "z": -0.13140204548835754
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4013061523438,
                        "y": 3430.82373046875,
                        "z": 370.42474365234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.0218505859375,
                        "y": 3445.609375,
                        "z": 370.5128173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.2994995117188,
                        "y": 3275.75,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2872241735458374,
                        "yaw": 93.52446746826172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.185646057128906,
                "transform": {
                    "location": {
                        "x": 971.6526489257812,
                        "y": 3331.005859375,
                        "z": 369.3485107421875
                    },
                    "rotation": {
                        "roll": -0.005035375710576773,
                        "pitch": 1.4108779430389404,
                        "yaw": 99.09801483154297
                    }
                },
                "velocity": {
                    "x": -1.6086753606796265,
                    "y": 10.056580543518066,
                    "z": 0.15730614960193634
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.755199432373047,
                "transform": {
                    "location": {
                        "x": 968.3527221679688,
                        "y": 3351.529541015625,
                        "z": 369.6543273925781
                    },
                    "rotation": {
                        "roll": -0.00018315069610252976,
                        "pitch": 0.7633897066116333,
                        "yaw": 99.12803649902344
                    }
                },
                "velocity": {
                    "x": -1.2316583395004272,
                    "y": 7.656071186065674,
                    "z": 0.10350366681814194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03334903717041,
                "transform": {
                    "location": {
                        "x": 965.6502685546875,
                        "y": 3368.322021484375,
                        "z": 369.865966796875
                    },
                    "rotation": {
                        "roll": 0.0010650480398908257,
                        "pitch": 0.6672889590263367,
                        "yaw": 99.15451049804688
                    }
                },
                "velocity": {
                    "x": -1.276232123374939,
                    "y": 7.930793285369873,
                    "z": 0.09191015362739563
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.409298896789551,
                "transform": {
                    "location": {
                        "x": 955.1406860351562,
                        "y": 3408.17578125,
                        "z": 370.2513732910156
                    },
                    "rotation": {
                        "roll": -0.0006713864277116954,
                        "pitch": 0.04348098114132881,
                        "yaw": 99.13803100585938
                    }
                },
                "velocity": {
                    "x": -0.38229644298553467,
                    "y": 2.378709316253662,
                    "z": 0.01767631433904171
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.9547340869903564,
                "transform": {
                    "location": {
                        "x": 956.5060424804688,
                        "y": 3399.6943359375,
                        "z": 370.18768310546875
                    },
                    "rotation": {
                        "roll": 0.0005419566296041012,
                        "pitch": 0.9672161936759949,
                        "yaw": 99.1431655883789
                    }
                },
                "velocity": {
                    "x": -0.3106374740600586,
                    "y": 1.9298139810562134,
                    "z": 0.017553366720676422
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.18417659401893616,
        "expert_target_speed": 10.0,
        "target_point": [
            32.227910957795416,
            -1.029429447012003
        ],
        "target_point_next": [
            83.21144608961362,
            -2.3229326137612976
        ]
    },
    "150": {
        "acceleration": [
            0.9901857376098633,
            0.9267807006835938,
            -0.03938019275665283
        ],
        "angular_velocity": [
            -0.14721429347991943,
            -0.33120059967041016,
            -3.7339181900024414
        ],
        "forward_vector": [
            -0.16921935975551605,
            0.9854826927185059,
            0.013735814951360226
        ],
        "right_vector": [
            -0.985572338104248,
            -0.16915296018123627,
            -0.005868869833648205
        ],
        "location": [
            962.6528930664062,
            3365.213623046875,
            369.8306579589844
        ],
        "rotation": [
            0.33629512786865234,
            0.787028968334198,
            99.74336242675781
        ],
        "velocity": [
            -3.146656036376953,
            18.101661682128906,
            0.2158946990966797
        ],
        "speed": 18.373121669044743,
        "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": 35.547096252441406,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.42333984375,
                3400.208740234375,
                370.19183349609375
            ],
            "velocity": [
                -0.347318559885025,
                2.157235622406006,
                0.01747535727918148
            ],
            "speed_kmh": 7.866309825163367,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.1763305664062,
                        "y": 3443.87548828125,
                        "z": 370.8055725097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.31338271498680115,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.9677124023438,
                        "y": 3443.359619140625,
                        "z": 370.8055419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.31338271498680115,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.2788696289062,
                        "y": 3289.4345703125,
                        "z": 368.6127014160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1600323915481567,
                        "yaw": 95.36956787109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.361721038818359,
                "transform": {
                    "location": {
                        "x": 966.8097534179688,
                        "y": 3403.06494140625,
                        "z": 370.2032775878906
                    },
                    "rotation": {
                        "roll": -0.0036621259059756994,
                        "pitch": -0.403472900390625,
                        "yaw": -80.53129577636719
                    }
                },
                "velocity": {
                    "x": 1.2086052894592285,
                    "y": -7.26155948638916,
                    "z": -0.06294286251068115
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.72194242477417,
                "transform": {
                    "location": {
                        "x": 963.6320190429688,
                        "y": 3402.358642578125,
                        "z": 370.2125549316406
                    },
                    "rotation": {
                        "roll": 0.0019092952134087682,
                        "pitch": -0.24353037774562836,
                        "yaw": -80.45591735839844
                    }
                },
                "velocity": {
                    "x": 1.2736749649047852,
                    "y": -7.6158881187438965,
                    "z": -0.0662483498454094
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.054727554321289,
                "transform": {
                    "location": {
                        "x": 973.9263916015625,
                        "y": 3359.060546875,
                        "z": 369.7741394042969
                    },
                    "rotation": {
                        "roll": 0.0005182787426747382,
                        "pitch": -0.6950673460960388,
                        "yaw": -80.83599090576172
                    }
                },
                "velocity": {
                    "x": 1.2811543941497803,
                    "y": -7.951593399047852,
                    "z": -0.09717713296413422
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.240045547485352,
                "transform": {
                    "location": {
                        "x": 970.7758178710938,
                        "y": 3358.18994140625,
                        "z": 369.72857666015625
                    },
                    "rotation": {
                        "roll": 0.0012867868645116687,
                        "pitch": -0.702430248260498,
                        "yaw": -80.98171997070312
                    }
                },
                "velocity": {
                    "x": 1.3070437908172607,
                    "y": -8.135117530822754,
                    "z": -0.09923802316188812
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.69365406036377,
                "transform": {
                    "location": {
                        "x": 975.5647583007812,
                        "y": 3304.55712890625,
                        "z": 368.9039611816406
                    },
                    "rotation": {
                        "roll": -0.009490912780165672,
                        "pitch": 1.0670257806777954,
                        "yaw": 96.98904418945312
                    }
                },
                "velocity": {
                    "x": -1.5466609001159668,
                    "y": 12.596925735473633,
                    "z": 0.2326696515083313
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04769229888916,
                "transform": {
                    "location": {
                        "x": 980.9396362304688,
                        "y": 3314.8603515625,
                        "z": 369.07635498046875
                    },
                    "rotation": {
                        "roll": 0.025197423994541168,
                        "pitch": -0.9656384587287903,
                        "yaw": -81.8489761352539
                    }
                },
                "velocity": {
                    "x": 1.1263647079467773,
                    "y": -7.967329502105713,
                    "z": -0.1353045254945755
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04782485961914,
                "transform": {
                    "location": {
                        "x": 977.7308349609375,
                        "y": 3314.34326171875,
                        "z": 369.0752258300781
                    },
                    "rotation": {
                        "roll": 0.027167100459337234,
                        "pitch": -0.9731789827346802,
                        "yaw": -81.85115051269531
                    }
                },
                "velocity": {
                    "x": 1.1261065006256104,
                    "y": -7.967507839202881,
                    "z": -0.13484640419483185
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.8472900390625,
                "transform": {
                    "location": {
                        "x": 952.1005249023438,
                        "y": 3432.68310546875,
                        "z": 370.4342956542969
                    },
                    "rotation": {
                        "roll": -0.0028381359297782183,
                        "pitch": 0.324891597032547,
                        "yaw": 99.22291564941406
                    }
                },
                "velocity": {
                    "x": -1.1303932666778564,
                    "y": 6.753299236297607,
                    "z": 0.02316800132393837
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.69091796875,
                        "y": 3447.66552734375,
                        "z": 370.52374267578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.1942749023438,
                        "y": 3277.412841796875,
                        "z": 368.3526916503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2448360919952393,
                        "yaw": 94.13947296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.506836891174316,
                "transform": {
                    "location": {
                        "x": 971.2601928710938,
                        "y": 3333.453125,
                        "z": 369.3885192871094
                    },
                    "rotation": {
                        "roll": -0.008026095107197762,
                        "pitch": 0.9497787356376648,
                        "yaw": 99.1026611328125
                    }
                },
                "velocity": {
                    "x": -1.50574791431427,
                    "y": 9.385690689086914,
                    "z": 0.1465912014245987
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.753823280334473,
                "transform": {
                    "location": {
                        "x": 968.0447998046875,
                        "y": 3353.442626953125,
                        "z": 369.6800231933594
                    },
                    "rotation": {
                        "roll": -0.0015258826315402985,
                        "pitch": 0.7645713090896606,
                        "yaw": 99.15878295898438
                    }
                },
                "velocity": {
                    "x": -1.231445550918579,
                    "y": 7.654725074768066,
                    "z": 0.10248672217130661
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033291816711426,
                "transform": {
                    "location": {
                        "x": 965.3313598632812,
                        "y": 3370.30419921875,
                        "z": 369.88909912109375
                    },
                    "rotation": {
                        "roll": 0.0009323309059254825,
                        "pitch": 0.6689009070396423,
                        "yaw": 99.12617492675781
                    }
                },
                "velocity": {
                    "x": -1.275926113128662,
                    "y": 7.930777549743652,
                    "z": 0.09248979389667511
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.6374704837799072,
                "transform": {
                    "location": {
                        "x": 955.0403442382812,
                        "y": 3408.79931640625,
                        "z": 370.25592041015625
                    },
                    "rotation": {
                        "roll": 0.0007303733727894723,
                        "pitch": -0.021760981529951096,
                        "yaw": 99.13825988769531
                    }
                },
                "velocity": {
                    "x": -0.41897931694984436,
                    "y": 2.603914976119995,
                    "z": 0.018269795924425125
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.1850860118865967,
                "transform": {
                    "location": {
                        "x": 956.42333984375,
                        "y": 3400.208740234375,
                        "z": 370.19183349609375
                    },
                    "rotation": {
                        "roll": -0.0007324243197217584,
                        "pitch": 0.6465252041816711,
                        "yaw": 99.14322662353516
                    }
                },
                "velocity": {
                    "x": -0.347318559885025,
                    "y": 2.157235622406006,
                    "z": 0.01747535727918148
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.23088765144348145,
        "expert_target_speed": 10.0,
        "target_point": [
            27.6674934445654,
            -0.5937899398497368
        ],
        "target_point_next": [
            78.66462987433508,
            -1.1286552903709932
        ]
    },
    "155": {
        "acceleration": [
            1.123509407043457,
            1.0651397705078125,
            0.01041114330291748
        ],
        "angular_velocity": [
            0.07308048754930496,
            -0.21571281552314758,
            -4.087186813354492
        ],
        "forward_vector": [
            -0.1523147076368332,
            0.9882403016090393,
            0.01346428133547306
        ],
        "right_vector": [
            -0.9883202314376831,
            -0.15223215520381927,
            -0.006963035091757774
        ],
        "location": [
            961.8971557617188,
            3369.771240234375,
            369.88427734375
        ],
        "rotation": [
            0.3989919424057007,
            0.7714698314666748,
            98.76189422607422
        ],
        "velocity": [
            -2.880439043045044,
            18.357873916625977,
            0.2134205549955368
        ],
        "speed": 18.582477332676465,
        "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": 31.497966766357422,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.3326416015625,
                3400.772216796875,
                370.1966247558594
            ],
            "velocity": [
                -0.37707218527793884,
                2.342974901199341,
                0.018753012642264366
            ],
            "speed_kmh": 8.543511092561639,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.5057373046875,
                        "y": 3441.827392578125,
                        "z": 370.5973205566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33260971307754517,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.2969970703125,
                        "y": 3441.311767578125,
                        "z": 370.5973205566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33260971307754517,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.9931030273438,
                        "y": 3292.567138671875,
                        "z": 368.6766357421875
                    },
                    "rotation": {
                        "roll": 5.337100361657576e-08,
                        "pitch": 1.1176238059997559,
                        "yaw": 95.984619140625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.405475616455078,
                "transform": {
                    "location": {
                        "x": 967.1449584960938,
                        "y": 3401.05126953125,
                        "z": 370.1858215332031
                    },
                    "rotation": {
                        "roll": -0.0032348569948226213,
                        "pitch": -0.4089643955230713,
                        "yaw": -80.5677490234375
                    }
                },
                "velocity": {
                    "x": 1.379620909690857,
                    "y": -8.291159629821777,
                    "z": -0.0731038749217987
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.345780372619629,
                "transform": {
                    "location": {
                        "x": 963.9668579101562,
                        "y": 3400.35107421875,
                        "z": 370.1949157714844
                    },
                    "rotation": {
                        "roll": 0.002197548048570752,
                        "pitch": -0.3521098792552948,
                        "yaw": -80.53177642822266
                    }
                },
                "velocity": {
                    "x": 1.3709784746170044,
                    "y": -8.232089042663574,
                    "z": -0.07191309332847595
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031427383422852,
                "transform": {
                    "location": {
                        "x": 974.246826171875,
                        "y": 3357.072998046875,
                        "z": 369.74896240234375
                    },
                    "rotation": {
                        "roll": 0.0011879351222887635,
                        "pitch": -0.7279341816902161,
                        "yaw": -80.8417739868164
                    }
                },
                "velocity": {
                    "x": 1.2782174348831177,
                    "y": -7.928389072418213,
                    "z": -0.10313642024993896
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.10365104675293,
                "transform": {
                    "location": {
                        "x": 971.0991821289062,
                        "y": 3356.18212890625,
                        "z": 369.7030029296875
                    },
                    "rotation": {
                        "roll": 0.003016051836311817,
                        "pitch": -0.7472773194313049,
                        "yaw": -81.08687591552734
                    }
                },
                "velocity": {
                    "x": 1.2836217880249023,
                    "y": -8.000656127929688,
                    "z": -0.10482053458690643
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.375533103942871,
                "transform": {
                    "location": {
                        "x": 975.1749267578125,
                        "y": 3307.671875,
                        "z": 368.9609680175781
                    },
                    "rotation": {
                        "roll": -0.008483964018523693,
                        "pitch": 1.0220967531204224,
                        "yaw": 97.3698501586914
                    }
                },
                "velocity": {
                    "x": -1.6000181436538696,
                    "y": 12.269696235656738,
                    "z": 0.2198171764612198
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050216674804688,
                "transform": {
                    "location": {
                        "x": 981.2191772460938,
                        "y": 3312.8681640625,
                        "z": 369.04241943359375
                    },
                    "rotation": {
                        "roll": 0.016550330445170403,
                        "pitch": -0.9829393029212952,
                        "yaw": -82.0227279663086
                    }
                },
                "velocity": {
                    "x": 1.1119632720947266,
                    "y": -7.971882343292236,
                    "z": -0.13642629981040955
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050739288330078,
                "transform": {
                    "location": {
                        "x": 978.0103149414062,
                        "y": 3312.35107421875,
                        "z": 369.04119873046875
                    },
                    "rotation": {
                        "roll": 0.016665631905198097,
                        "pitch": -0.9884580969810486,
                        "yaw": -82.02547454833984
                    }
                },
                "velocity": {
                    "x": 1.1117442846298218,
                    "y": -7.972397327423096,
                    "z": -0.1389690488576889
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.586372375488281,
                "transform": {
                    "location": {
                        "x": 951.819580078125,
                        "y": 3434.33740234375,
                        "z": 370.4416198730469
                    },
                    "rotation": {
                        "roll": 5.7870896853273734e-05,
                        "pitch": 0.3452114164829254,
                        "yaw": 99.67282104492188
                    }
                },
                "velocity": {
                    "x": -1.137165904045105,
                    "y": 6.487363338470459,
                    "z": 0.035620659589767456
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.3599853515625,
                        "y": 3449.72216796875,
                        "z": 370.53448486328125
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.0326538085938,
                        "y": 3279.90625,
                        "z": 368.40826416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2448360919952393,
                        "yaw": 94.13947296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.86398983001709,
                "transform": {
                    "location": {
                        "x": 970.9244995117188,
                        "y": 3335.544921875,
                        "z": 369.4230041503906
                    },
                    "rotation": {
                        "roll": -0.004028319846838713,
                        "pitch": 0.44674214720726013,
                        "yaw": 99.14114379882812
                    }
                },
                "velocity": {
                    "x": -1.2486335039138794,
                    "y": 7.763279914855957,
                    "z": 0.12137284874916077
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.760346412658691,
                "transform": {
                    "location": {
                        "x": 967.7367553710938,
                        "y": 3355.357421875,
                        "z": 369.7054748535156
                    },
                    "rotation": {
                        "roll": -0.0008239627932198346,
                        "pitch": 0.7536976933479309,
                        "yaw": 99.12957000732422
                    }
                },
                "velocity": {
                    "x": -1.2335386276245117,
                    "y": 7.661046981811523,
                    "z": 0.09856933355331421
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034072875976562,
                "transform": {
                    "location": {
                        "x": 965.012451171875,
                        "y": 3372.287109375,
                        "z": 369.91229248046875
                    },
                    "rotation": {
                        "roll": 3.8635895180050284e-05,
                        "pitch": 0.6696248650550842,
                        "yaw": 99.1492919921875
                    }
                },
                "velocity": {
                    "x": -1.2763829231262207,
                    "y": 7.931498050689697,
                    "z": 0.09230445325374603
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.8664329051971436,
                "transform": {
                    "location": {
                        "x": 954.930908203125,
                        "y": 3409.4794921875,
                        "z": 370.26092529296875
                    },
                    "rotation": {
                        "roll": -0.00042724539525806904,
                        "pitch": -0.03326302021741867,
                        "yaw": 99.13916015625
                    }
                },
                "velocity": {
                    "x": -0.4549315571784973,
                    "y": 2.8300182819366455,
                    "z": 0.021705759689211845
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.373197555541992,
                "transform": {
                    "location": {
                        "x": 956.3326416015625,
                        "y": 3400.772216796875,
                        "z": 370.1966247558594
                    },
                    "rotation": {
                        "roll": 0.001306081423535943,
                        "pitch": 0.6127157211303711,
                        "yaw": 99.14290618896484
                    }
                },
                "velocity": {
                    "x": -0.37707218527793884,
                    "y": 2.342974901199341,
                    "z": 0.018753012642264366
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.2567254602909088,
        "expert_target_speed": 10.0,
        "target_point": [
            23.054055705698303,
            -0.17242295547435127
        ],
        "target_point_next": [
            74.05287160444055,
            0.16637182890605118
        ]
    },
    "160": {
        "acceleration": [
            1.4025497436523438,
            0.8437347412109375,
            -0.021091997623443604
        ],
        "angular_velocity": [
            -0.11280367523431778,
            -0.2346542328596115,
            -4.856910705566406
        ],
        "forward_vector": [
            -0.1331275850534439,
            0.9910067319869995,
            0.013519829139113426
        ],
        "right_vector": [
            -0.9910797476768494,
            -0.13302777707576752,
            -0.0080341175198555
        ],
        "location": [
            961.2140502929688,
            3374.39404296875,
            369.93792724609375
        ],
        "rotation": [
            0.4603680670261383,
            0.7746527194976807,
            97.65106201171875
        ],
        "velocity": [
            -2.557823419570923,
            18.605981826782227,
            0.21416987478733063
        ],
        "speed": 18.780974958299048,
        "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": 27.444610595703125,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.2344970703125,
                3401.3818359375,
                370.201904296875
            ],
            "velocity": [
                -0.4066547155380249,
                2.526911497116089,
                0.021424254402518272
            ],
            "speed_kmh": 9.214248187835036,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.965905666351318,
                "transform": {
                    "location": {
                        "x": 960.837890625,
                        "y": 3439.816162109375,
                        "z": 370.453125
                    },
                    "rotation": {
                        "roll": -0.05807492882013321,
                        "pitch": -0.4030221104621887,
                        "yaw": -80.56700897216797
                    }
                },
                "velocity": {
                    "x": 1.3280454874038696,
                    "y": -7.853254795074463,
                    "z": -0.13540011644363403
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.297338485717773,
                "transform": {
                    "location": {
                        "x": 957.5891723632812,
                        "y": 3439.531494140625,
                        "z": 370.4631042480469
                    },
                    "rotation": {
                        "roll": -0.017425548285245895,
                        "pitch": -0.6109262108802795,
                        "yaw": -80.63389587402344
                    }
                },
                "velocity": {
                    "x": 1.0416488647460938,
                    "y": -6.21019172668457,
                    "z": -0.07039035856723785
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.6965942382812,
                        "y": 3295.5400390625,
                        "z": 368.7361145019531
                    },
                    "rotation": {
                        "roll": 5.337100361657576e-08,
                        "pitch": 1.1176238059997559,
                        "yaw": 95.984619140625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.906249523162842,
                "transform": {
                    "location": {
                        "x": 967.4751586914062,
                        "y": 3399.04345703125,
                        "z": 370.1689758300781
                    },
                    "rotation": {
                        "roll": 0.0012356704100966454,
                        "pitch": -0.49725139141082764,
                        "yaw": -80.65003967285156
                    }
                },
                "velocity": {
                    "x": 1.2770124673843384,
                    "y": -7.8021464347839355,
                    "z": -0.0673079863190651
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.931659698486328,
                "transform": {
                    "location": {
                        "x": 964.2973022460938,
                        "y": 3398.345458984375,
                        "z": 370.17724609375
                    },
                    "rotation": {
                        "roll": 0.005293175578117371,
                        "pitch": -0.5060350298881531,
                        "yaw": -80.66331481933594
                    }
                },
                "velocity": {
                    "x": 1.2836239337921143,
                    "y": -7.826803207397461,
                    "z": -0.0684545710682869
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.035932540893555,
                "transform": {
                    "location": {
                        "x": 974.5662231445312,
                        "y": 3355.091796875,
                        "z": 369.7232666015625
                    },
                    "rotation": {
                        "roll": -0.0015563826309517026,
                        "pitch": -0.7690656185150146,
                        "yaw": -80.84230041503906
                    }
                },
                "velocity": {
                    "x": 1.2787387371063232,
                    "y": -7.9328227043151855,
                    "z": -0.10659200698137283
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.814570426940918,
                "transform": {
                    "location": {
                        "x": 971.3904418945312,
                        "y": 3354.365478515625,
                        "z": 369.6795349121094
                    },
                    "rotation": {
                        "roll": 0.0020971535705029964,
                        "pitch": -0.8020895719528198,
                        "yaw": -81.05146789550781
                    }
                },
                "velocity": {
                    "x": 1.0801576375961304,
                    "y": -6.727798938751221,
                    "z": -0.09138832241296768
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.643855094909668,
                "transform": {
                    "location": {
                        "x": 974.7849731445312,
                        "y": 3310.612060546875,
                        "z": 369.0134582519531
                    },
                    "rotation": {
                        "roll": -0.005218503065407276,
                        "pitch": 0.9857533574104309,
                        "yaw": 97.78214263916016
                    }
                },
                "velocity": {
                    "x": -1.5740972757339478,
                    "y": 11.535205841064453,
                    "z": 0.20149722695350647
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047287940979004,
                "transform": {
                    "location": {
                        "x": 981.4912109375,
                        "y": 3310.87451171875,
                        "z": 369.0079650878906
                    },
                    "rotation": {
                        "roll": 0.03208788484334946,
                        "pitch": -0.999693751335144,
                        "yaw": -82.27970886230469
                    }
                },
                "velocity": {
                    "x": 1.058984398841858,
                    "y": -7.97611141204834,
                    "z": -0.13798640668392181
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047205924987793,
                "transform": {
                    "location": {
                        "x": 978.2821044921875,
                        "y": 3310.357666015625,
                        "z": 369.0064697265625
                    },
                    "rotation": {
                        "roll": 0.03258689492940903,
                        "pitch": -1.0062575340270996,
                        "yaw": -82.2839126586914
                    }
                },
                "velocity": {
                    "x": 1.0583367347717285,
                    "y": -7.97610330581665,
                    "z": -0.1386536806821823
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.785010814666748,
                "transform": {
                    "location": {
                        "x": 951.537109375,
                        "y": 3435.985595703125,
                        "z": 370.4515075683594
                    },
                    "rotation": {
                        "roll": 0.004209146834909916,
                        "pitch": 0.3300415575504303,
                        "yaw": 99.75050354003906
                    }
                },
                "velocity": {
                    "x": -1.140718698501587,
                    "y": 6.688304424285889,
                    "z": 0.04140530526638031
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.0289916992188,
                        "y": 3451.7783203125,
                        "z": 370.5447998046875
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.9185180664062,
                        "y": 3281.568115234375,
                        "z": 368.4449157714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2448360919952393,
                        "yaw": 94.13947296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.13770580291748,
                "transform": {
                    "location": {
                        "x": 970.6110229492188,
                        "y": 3337.494873046875,
                        "z": 369.4519958496094
                    },
                    "rotation": {
                        "roll": -0.0025329834315925837,
                        "pitch": 0.7389991283416748,
                        "yaw": 99.12387084960938
                    }
                },
                "velocity": {
                    "x": -1.2921241521835327,
                    "y": 8.033568382263184,
                    "z": 0.1201733946800232
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.75508975982666,
                "transform": {
                    "location": {
                        "x": 967.4285888671875,
                        "y": 3357.271728515625,
                        "z": 369.73004150390625
                    },
                    "rotation": {
                        "roll": 0.00032088306033983827,
                        "pitch": 0.7047593593597412,
                        "yaw": 99.16394805908203
                    }
                },
                "velocity": {
                    "x": -1.2324445247650146,
                    "y": 7.65588903427124,
                    "z": 0.09929845482110977
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033426284790039,
                "transform": {
                    "location": {
                        "x": 964.693359375,
                        "y": 3374.269287109375,
                        "z": 369.93548583984375
                    },
                    "rotation": {
                        "roll": -0.0006714053452014923,
                        "pitch": 0.6694473028182983,
                        "yaw": 99.13270568847656
                    }
                },
                "velocity": {
                    "x": -1.2767603397369385,
                    "y": 7.930788993835449,
                    "z": 0.09165658801794052
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.0868234634399414,
                "transform": {
                    "location": {
                        "x": 954.8125,
                        "y": 3410.216064453125,
                        "z": 370.2664794921875
                    },
                    "rotation": {
                        "roll": 0.0008273367420770228,
                        "pitch": -0.030428491532802582,
                        "yaw": 99.14027404785156
                    }
                },
                "velocity": {
                    "x": -0.4904311001300812,
                    "y": 3.047532796859741,
                    "z": 0.02234473265707493
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.5595133304595947,
                "transform": {
                    "location": {
                        "x": 956.2344970703125,
                        "y": 3401.3818359375,
                        "z": 370.201904296875
                    },
                    "rotation": {
                        "roll": -0.000793494051322341,
                        "pitch": 0.6098334193229675,
                        "yaw": 99.1427230834961
                    }
                },
                "velocity": {
                    "x": -0.4066547155380249,
                    "y": 2.526911497116089,
                    "z": 0.021424254402518272
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.2441563755273819,
        "expert_target_speed": 10.0,
        "target_point": [
            18.38047030503845,
            0.21297740580327273
        ],
        "target_point_next": [
            69.36313522530476,
            1.540336666733106
        ]
    },
    "165": {
        "acceleration": [
            1.8316411972045898,
            -0.2437591552734375,
            -0.024446845054626465
        ],
        "angular_velocity": [
            -0.2989562451839447,
            -0.34613069891929626,
            -5.804171562194824
        ],
        "forward_vector": [
            -0.10996359586715698,
            0.9938633441925049,
            0.011987159959971905
        ],
        "right_vector": [
            -0.9939034581184387,
            -0.10985509306192398,
            -0.009363572113215923
        ],
        "location": [
            960.6229248046875,
            3379.056884765625,
            369.9905700683594
        ],
        "rotation": [
            0.5365395545959473,
            0.6868301033973694,
            96.31367492675781
        ],
        "velocity": [
            -2.1374411582946777,
            18.653858184814453,
            0.20507952570915222
        ],
        "speed": 18.77591755106368,
        "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": 23.410079956054688,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.1300659179688,
                3402.03076171875,
                370.2074890136719
            ],
            "velocity": [
                -0.4420696794986725,
                2.747166633605957,
                0.023868035525083542
            ],
            "speed_kmh": 10.017396896147675,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.17291259765625,
                "transform": {
                    "location": {
                        "x": 961.1759033203125,
                        "y": 3437.82421875,
                        "z": 370.4449462890625
                    },
                    "rotation": {
                        "roll": -0.038879405707120895,
                        "pitch": -0.3565700054168701,
                        "yaw": -80.34617614746094
                    }
                },
                "velocity": {
                    "x": 1.377435564994812,
                    "y": -8.055994987487793,
                    "z": -0.010538863949477673
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.068799018859863,
                "transform": {
                    "location": {
                        "x": 957.8471069335938,
                        "y": 3438.00732421875,
                        "z": 370.4587097167969
                    },
                    "rotation": {
                        "roll": -0.011962872929871082,
                        "pitch": -0.4084111452102661,
                        "yaw": -80.4185562133789
                    }
                },
                "velocity": {
                    "x": 1.0175055265426636,
                    "y": -5.982867240905762,
                    "z": -0.017434481531381607
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.3901977539062,
                        "y": 3298.40234375,
                        "z": 368.7919921875
                    },
                    "rotation": {
                        "roll": 1.0674049377712436e-07,
                        "pitch": 1.0752356052398682,
                        "yaw": 96.59965515136719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05689811706543,
                "transform": {
                    "location": {
                        "x": 967.7951049804688,
                        "y": 3397.087646484375,
                        "z": 370.15191650390625
                    },
                    "rotation": {
                        "roll": 0.0008562324219383299,
                        "pitch": -0.48656898736953735,
                        "yaw": -80.73597717285156
                    }
                },
                "velocity": {
                    "x": 1.296942114830017,
                    "y": -7.951531410217285,
                    "z": -0.06848980486392975
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056543350219727,
                "transform": {
                    "location": {
                        "x": 964.6180419921875,
                        "y": 3396.384521484375,
                        "z": 370.16015625
                    },
                    "rotation": {
                        "roll": 0.0031076634768396616,
                        "pitch": -0.491609662771225,
                        "yaw": -80.71824645996094
                    }
                },
                "velocity": {
                    "x": 1.2987169027328491,
                    "y": -7.950841426849365,
                    "z": -0.07318378984928131
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02389144897461,
                "transform": {
                    "location": {
                        "x": 974.8856201171875,
                        "y": 3353.1103515625,
                        "z": 369.69647216796875
                    },
                    "rotation": {
                        "roll": 0.0011601141886785626,
                        "pitch": -0.7620168328285217,
                        "yaw": -80.84402465820312
                    }
                },
                "velocity": {
                    "x": 1.2752646207809448,
                    "y": -7.921170711517334,
                    "z": -0.10760053247213364
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.064699172973633,
                "transform": {
                    "location": {
                        "x": 971.6607666015625,
                        "y": 3352.674072265625,
                        "z": 369.65618896484375
                    },
                    "rotation": {
                        "roll": -0.0008544359588995576,
                        "pitch": -0.7612040638923645,
                        "yaw": -80.89110565185547
                    }
                },
                "velocity": {
                    "x": 1.1220309734344482,
                    "y": -6.974414348602295,
                    "z": -0.0925346165895462
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.441625595092773,
                "transform": {
                    "location": {
                        "x": 974.3895263671875,
                        "y": 3313.459228515625,
                        "z": 369.0628967285156
                    },
                    "rotation": {
                        "roll": -0.005462636239826679,
                        "pitch": 0.9679811596870422,
                        "yaw": 98.10022735595703
                    }
                },
                "velocity": {
                    "x": -1.62886381149292,
                    "y": 11.323442459106445,
                    "z": 0.1929924339056015
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.7345581054688,
                        "y": 3308.848876953125,
                        "z": 368.97210693359375
                    },
                    "rotation": {
                        "roll": 1.0673903716451605e-07,
                        "pitch": -1.0328611135482788,
                        "yaw": -82.78528594970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.5241088867188,
                        "y": 3308.331787109375,
                        "z": 368.9703674316406
                    },
                    "rotation": {
                        "roll": 1.0673903716451605e-07,
                        "pitch": -1.0328611135482788,
                        "yaw": -82.78528594970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.909575939178467,
                "transform": {
                    "location": {
                        "x": 951.2553100585938,
                        "y": 3437.6396484375,
                        "z": 370.46124267578125
                    },
                    "rotation": {
                        "roll": 0.003492634277790785,
                        "pitch": 0.3349592983722687,
                        "yaw": 99.67262268066406
                    }
                },
                "velocity": {
                    "x": -1.1552751064300537,
                    "y": 6.812192916870117,
                    "z": 0.04007623717188835
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.6981811523438,
                        "y": 3453.834716796875,
                        "z": 370.5550842285156
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.727783203125,
                        "y": 3284.059814453125,
                        "z": 368.4986572265625
                    },
                    "rotation": {
                        "roll": 5.3372598785017544e-08,
                        "pitch": 1.2024343013763428,
                        "yaw": 94.75452423095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.968905448913574,
                "transform": {
                    "location": {
                        "x": 970.2737426757812,
                        "y": 3339.591552734375,
                        "z": 369.4823303222656
                    },
                    "rotation": {
                        "roll": -0.0014038635417819023,
                        "pitch": 0.9822904467582703,
                        "yaw": 99.16761016845703
                    }
                },
                "velocity": {
                    "x": -1.4259120225906372,
                    "y": 8.853864669799805,
                    "z": 0.13081727921962738
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.763814926147461,
                "transform": {
                    "location": {
                        "x": 967.1203002929688,
                        "y": 3359.185791015625,
                        "z": 369.7537536621094
                    },
                    "rotation": {
                        "roll": -0.0004883147776126862,
                        "pitch": 0.6988034248352051,
                        "yaw": 99.13578796386719
                    }
                },
                "velocity": {
                    "x": -1.2349390983581543,
                    "y": 7.664392948150635,
                    "z": 0.09394820779561996
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.194188117980957,
                "transform": {
                    "location": {
                        "x": 964.373046875,
                        "y": 3376.259521484375,
                        "z": 369.95831298828125
                    },
                    "rotation": {
                        "roll": -0.000762952258810401,
                        "pitch": 0.6700552105903625,
                        "yaw": 99.15332794189453
                    }
                },
                "velocity": {
                    "x": -1.3025771379470825,
                    "y": 8.089472770690918,
                    "z": 0.09186988323926926
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.15193510055542,
                "transform": {
                    "location": {
                        "x": 954.687255859375,
                        "y": 3410.994384765625,
                        "z": 370.2723693847656
                    },
                    "rotation": {
                        "roll": 0.003157434519380331,
                        "pitch": 0.05117177590727806,
                        "yaw": 99.14100646972656
                    }
                },
                "velocity": {
                    "x": -0.5011440515518188,
                    "y": 3.1117613315582275,
                    "z": 0.02215450257062912
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.7826101779937744,
                "transform": {
                    "location": {
                        "x": 956.1300659179688,
                        "y": 3402.03076171875,
                        "z": 370.2074890136719
                    },
                    "rotation": {
                        "roll": 9.058455179911107e-05,
                        "pitch": 0.5715296864509583,
                        "yaw": 99.14276885986328
                    }
                },
                "velocity": {
                    "x": -0.4420696794986725,
                    "y": 2.747166633605957,
                    "z": 0.023868035525083542
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.06232684478163719,
        "expert_target_speed": 10.0,
        "target_point": [
            13.67092498581897,
            0.567157944452261
        ],
        "target_point_next": [
            64.60872147060678,
            3.0840795272727
        ]
    },
    "170": {
        "acceleration": [
            1.7696619033813477,
            -0.35678863525390625,
            -0.027444660663604736
        ],
        "angular_velocity": [
            -0.21144212782382965,
            -0.11375854164361954,
            -5.585692405700684
        ],
        "forward_vector": [
            -0.0844525545835495,
            0.9963679909706116,
            0.01088943425565958
        ],
        "right_vector": [
            -0.9963833093643188,
            -0.0843409076333046,
            -0.010335255414247513
        ],
        "location": [
            960.1456298828125,
            3383.7080078125,
            370.0416259765625
        ],
        "rotation": [
            0.5922122001647949,
            0.6239309310913086,
            94.84483337402344
        ],
        "velocity": [
            -1.6658790111541748,
            18.567943572998047,
            0.20244081318378448
        ],
        "speed": 18.64252347215482,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.480058670043945,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.0153198242188,
                3402.744384765625,
                370.2137451171875
            ],
            "velocity": [
                -0.47396352887153625,
                2.9450056552886963,
                0.02569255791604519
            ],
            "speed_kmh": 10.738842748505949,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.979889869689941,
                "transform": {
                    "location": {
                        "x": 961.516357421875,
                        "y": 3435.835205078125,
                        "z": 370.4390869140625
                    },
                    "rotation": {
                        "roll": -0.02514648251235485,
                        "pitch": -0.36651477217674255,
                        "yaw": -80.27561950683594
                    }
                },
                "velocity": {
                    "x": 1.350472092628479,
                    "y": -7.864712238311768,
                    "z": -0.03419935330748558
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.994113922119141,
                "transform": {
                    "location": {
                        "x": 958.1071166992188,
                        "y": 3436.48486328125,
                        "z": 370.4518737792969
                    },
                    "rotation": {
                        "roll": -0.007568380329757929,
                        "pitch": -0.36956101655960083,
                        "yaw": -80.31917572021484
                    }
                },
                "velocity": {
                    "x": 1.0114752054214478,
                    "y": -5.908059597015381,
                    "z": -0.03392209857702255
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.071533203125,
                        "y": 3301.2939453125,
                        "z": 368.8479919433594
                    },
                    "rotation": {
                        "roll": 1.0674049377712436e-07,
                        "pitch": 1.0752356052398682,
                        "yaw": 96.59965515136719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.105769157409668,
                "transform": {
                    "location": {
                        "x": 968.1217651367188,
                        "y": 3395.08251953125,
                        "z": 370.13330078125
                    },
                    "rotation": {
                        "roll": 0.001202513580210507,
                        "pitch": -0.5404660105705261,
                        "yaw": -80.73445892333984
                    }
                },
                "velocity": {
                    "x": 1.2987542152404785,
                    "y": -8.00068187713623,
                    "z": -0.07637093216180801
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.101152420043945,
                "transform": {
                    "location": {
                        "x": 964.9440307617188,
                        "y": 3394.382080078125,
                        "z": 370.1415100097656
                    },
                    "rotation": {
                        "roll": 0.003271035850048065,
                        "pitch": -0.5473030209541321,
                        "yaw": -80.76210021972656
                    }
                },
                "velocity": {
                    "x": 1.2984367609024048,
                    "y": -7.996085166931152,
                    "z": -0.07321523874998093
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053178787231445,
                "transform": {
                    "location": {
                        "x": 975.2052612304688,
                        "y": 3351.12548828125,
                        "z": 369.6698303222656
                    },
                    "rotation": {
                        "roll": 0.0022868479136377573,
                        "pitch": -0.7616274952888489,
                        "yaw": -80.84998321533203
                    }
                },
                "velocity": {
                    "x": 1.2805782556533813,
                    "y": -7.949997425079346,
                    "z": -0.1064973995089531
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.776452541351318,
                "transform": {
                    "location": {
                        "x": 971.9588623046875,
                        "y": 3350.820556640625,
                        "z": 369.6312561035156
                    },
                    "rotation": {
                        "roll": -0.0010070553980767727,
                        "pitch": -0.7352288365364075,
                        "yaw": -80.85639953613281
                    }
                },
                "velocity": {
                    "x": 1.2369742393493652,
                    "y": -7.6767473220825195,
                    "z": -0.10324710607528687
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.05245590209961,
                "transform": {
                    "location": {
                        "x": 973.9673461914062,
                        "y": 3316.357421875,
                        "z": 369.1119689941406
                    },
                    "rotation": {
                        "roll": -0.004394511692225933,
                        "pitch": 0.9618818163871765,
                        "yaw": 98.46640014648438
                    }
                },
                "velocity": {
                    "x": -1.7742797136306763,
                    "y": 11.91950511932373,
                    "z": 0.19755414128303528
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4054,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.9586791992188,
                        "y": 3306.778076171875,
                        "z": 368.93499755859375
                    },
                    "rotation": {
                        "roll": 1.0673903716451605e-07,
                        "pitch": -1.0328611135482788,
                        "yaw": -82.78528594970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4053,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.7526245117188,
                        "y": 3306.260498046875,
                        "z": 368.9328308105469
                    },
                    "rotation": {
                        "roll": -5.337024688856218e-08,
                        "pitch": -1.0752288103103638,
                        "yaw": -83.40034484863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.15664005279541,
                "transform": {
                    "location": {
                        "x": 950.9417114257812,
                        "y": 3439.490234375,
                        "z": 370.4718933105469
                    },
                    "rotation": {
                        "roll": 0.0034756194800138474,
                        "pitch": 0.35687053203582764,
                        "yaw": 99.6061019897461
                    }
                },
                "velocity": {
                    "x": -1.3477115631103516,
                    "y": 8.044391632080078,
                    "z": 0.04697209224104881
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.3670654296875,
                        "y": 3455.89111328125,
                        "z": 370.56475830078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.542236328125,
                        "y": 3286.48486328125,
                        "z": 368.5509948730469
                    },
                    "rotation": {
                        "roll": 5.3372598785017544e-08,
                        "pitch": 1.2024343013763428,
                        "yaw": 94.75452423095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.130778312683105,
                "transform": {
                    "location": {
                        "x": 969.8856811523438,
                        "y": 3342.002197265625,
                        "z": 369.5162353515625
                    },
                    "rotation": {
                        "roll": 0.0003957146836910397,
                        "pitch": 1.270900011062622,
                        "yaw": 99.13829040527344
                    }
                },
                "velocity": {
                    "x": -1.6092098951339722,
                    "y": 10.001111030578613,
                    "z": 0.1445254683494568
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.264200210571289,
                "transform": {
                    "location": {
                        "x": 966.8045654296875,
                        "y": 3361.146240234375,
                        "z": 369.77777099609375
                    },
                    "rotation": {
                        "roll": 0.0007526410627178848,
                        "pitch": 0.7608147263526917,
                        "yaw": 99.164306640625
                    }
                },
                "velocity": {
                    "x": -1.3137340545654297,
                    "y": 8.1585054397583,
                    "z": 0.099474236369133
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.95621395111084,
                "transform": {
                    "location": {
                        "x": 964.0293579101562,
                        "y": 3378.395263671875,
                        "z": 369.9823303222656
                    },
                    "rotation": {
                        "roll": -0.00042724492959678173,
                        "pitch": 0.7639702558517456,
                        "yaw": 99.1386489868164
                    }
                },
                "velocity": {
                    "x": -1.4233992099761963,
                    "y": 8.841839790344238,
                    "z": 0.09786702692508698
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.154273748397827,
                "transform": {
                    "location": {
                        "x": 954.5619506835938,
                        "y": 3411.77294921875,
                        "z": 370.2782287597656
                    },
                    "rotation": {
                        "roll": 0.004678336903452873,
                        "pitch": 0.10653728246688843,
                        "yaw": 99.14097595214844
                    }
                },
                "velocity": {
                    "x": -0.5014945268630981,
                    "y": 3.114077091217041,
                    "z": 0.021691160276532173
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.9830119609832764,
                "transform": {
                    "location": {
                        "x": 956.0153198242188,
                        "y": 3402.744384765625,
                        "z": 370.2137451171875
                    },
                    "rotation": {
                        "roll": -0.0005799033096991479,
                        "pitch": 0.5918768644332886,
                        "yaw": 99.14257049560547
                    }
                },
                "velocity": {
                    "x": -0.47396352887153625,
                    "y": 2.9450056552886963,
                    "z": 0.02569255791604519
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0017194747924805,
        "expert_target_speed": 10.0,
        "target_point": [
            8.977078335809416,
            0.8346412093746505
        ],
        "target_point_next": [
            59.83361906769164,
            4.656456192616681
        ]
    },
    "175": {
        "acceleration": [
            0.7407927513122559,
            -0.568695068359375,
            -0.06063222885131836
        ],
        "angular_velocity": [
            -0.18632270395755768,
            0.9114400148391724,
            -1.383687138557434
        ],
        "forward_vector": [
            -0.06840267032384872,
            0.9976164102554321,
            0.009088153019547462
        ],
        "right_vector": [
            -0.9976277947425842,
            -0.06832718849182129,
            -0.008371229283511639
        ],
        "location": [
            959.7710571289062,
            3388.333251953125,
            370.0892639160156
        ],
        "rotation": [
            0.4796614944934845,
            0.5207199454307556,
            93.92240905761719
        ],
        "velocity": [
            -1.3548678159713745,
            18.441797256469727,
            0.1795830875635147
        ],
        "speed": 18.491499475366766,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.658792495727539,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                955.8930053710938,
                3403.503662109375,
                370.22021484375
            ],
            "velocity": [
                -0.49708545207977295,
                3.08733868598938,
                0.0249897763133049
            ],
            "speed_kmh": 11.257919284878819,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.172884941101074,
                "transform": {
                    "location": {
                        "x": 961.853271484375,
                        "y": 3433.84375,
                        "z": 370.4286193847656
                    },
                    "rotation": {
                        "roll": 0.018373627215623856,
                        "pitch": -0.3753666877746582,
                        "yaw": -80.42362976074219
                    }
                },
                "velocity": {
                    "x": 1.3478819131851196,
                    "y": -8.06082534790039,
                    "z": -0.04845637083053589
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.303067207336426,
                "transform": {
                    "location": {
                        "x": 958.3380737304688,
                        "y": 3435.137451171875,
                        "z": 370.44384765625
                    },
                    "rotation": {
                        "roll": -0.006469714920967817,
                        "pitch": -0.44155803322792053,
                        "yaw": -80.28117370605469
                    }
                },
                "velocity": {
                    "x": 0.8972365260124207,
                    "y": -5.2265119552612305,
                    "z": -0.03257664293050766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.7124633789062,
                        "y": 3304.274658203125,
                        "z": 368.90350341796875
                    },
                    "rotation": {
                        "roll": -5.3369518582258024e-08,
                        "pitch": 1.0328338146209717,
                        "yaw": 97.21468353271484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.004600524902344,
                "transform": {
                    "location": {
                        "x": 968.4435424804688,
                        "y": 3393.1005859375,
                        "z": 370.1141662597656
                    },
                    "rotation": {
                        "roll": 2.8789598218281753e-05,
                        "pitch": -0.5688454508781433,
                        "yaw": -80.80651092529297
                    }
                },
                "velocity": {
                    "x": 1.2782163619995117,
                    "y": -7.901483535766602,
                    "z": -0.07968266308307648
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.021072387695312,
                "transform": {
                    "location": {
                        "x": 965.2656860351562,
                        "y": 3392.397216796875,
                        "z": 370.1221923828125
                    },
                    "rotation": {
                        "roll": 0.0009176124585792422,
                        "pitch": -0.5735446214675903,
                        "yaw": -80.80220031738281
                    }
                },
                "velocity": {
                    "x": 1.2810319662094116,
                    "y": -7.917716979980469,
                    "z": -0.07950129359960556
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.012761116027832,
                "transform": {
                    "location": {
                        "x": 975.5242919921875,
                        "y": 3349.1435546875,
                        "z": 369.6432189941406
                    },
                    "rotation": {
                        "roll": 0.0013328858185559511,
                        "pitch": -0.7640385627746582,
                        "yaw": -80.85801696777344
                    }
                },
                "velocity": {
                    "x": 1.2728019952774048,
                    "y": -7.910263538360596,
                    "z": -0.10976928472518921
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.829974174499512,
                "transform": {
                    "location": {
                        "x": 972.29443359375,
                        "y": 3348.739990234375,
                        "z": 369.6031494140625
                    },
                    "rotation": {
                        "roll": 0.00022279942641034722,
                        "pitch": -0.7254890203475952,
                        "yaw": -80.87193298339844
                    }
                },
                "velocity": {
                    "x": 1.4044382572174072,
                    "y": -8.716755867004395,
                    "z": -0.11898960173130035
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.51708984375,
                        "y": 3319.56640625,
                        "z": 369.1667785644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.250988006591797,
                "transform": {
                    "location": {
                        "x": 950.5968627929688,
                        "y": 3441.55712890625,
                        "z": 370.4841003417969
                    },
                    "rotation": {
                        "roll": 0.003924426157027483,
                        "pitch": 0.3397882282733917,
                        "yaw": 99.4350357055664
                    }
                },
                "velocity": {
                    "x": -1.3453174829483032,
                    "y": 8.14042854309082,
                    "z": 0.0483669638633728
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.0362548828125,
                        "y": 3457.947509765625,
                        "z": 370.57440185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.341796875,
                        "y": 3288.780517578125,
                        "z": 368.59881591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1600323915481567,
                        "yaw": 95.36956787109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.06308650970459,
                "transform": {
                    "location": {
                        "x": 969.50146484375,
                        "y": 3344.390625,
                        "z": 369.5526428222656
                    },
                    "rotation": {
                        "roll": 0.001308045699261129,
                        "pitch": 0.769284188747406,
                        "yaw": 99.13603973388672
                    }
                },
                "velocity": {
                    "x": -1.4389991760253906,
                    "y": 8.947175979614258,
                    "z": 0.12983740866184235
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.260577201843262,
                "transform": {
                    "location": {
                        "x": 966.4557495117188,
                        "y": 3363.3125,
                        "z": 369.8044128417969
                    },
                    "rotation": {
                        "roll": 0.000389308639569208,
                        "pitch": 0.8341982960700989,
                        "yaw": 99.13958740234375
                    }
                },
                "velocity": {
                    "x": -1.4711357355117798,
                    "y": 9.142285346984863,
                    "z": 0.11253135651350021
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.380495071411133,
                "transform": {
                    "location": {
                        "x": 963.6482543945312,
                        "y": 3380.761474609375,
                        "z": 370.008544921875
                    },
                    "rotation": {
                        "roll": -0.0001220779085997492,
                        "pitch": 0.8975004553794861,
                        "yaw": 99.16393280029297
                    }
                },
                "velocity": {
                    "x": -1.6507066488265991,
                    "y": 10.247781753540039,
                    "z": 0.11319083720445633
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1175668239593506,
                "transform": {
                    "location": {
                        "x": 954.4370727539062,
                        "y": 3412.549072265625,
                        "z": 370.2840576171875
                    },
                    "rotation": {
                        "roll": 0.0018433021614328027,
                        "pitch": 0.13231441378593445,
                        "yaw": 99.14119720458984
                    }
                },
                "velocity": {
                    "x": -0.49573656916618347,
                    "y": 3.0778231620788574,
                    "z": 0.021731318905949593
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.12719988822937,
                "transform": {
                    "location": {
                        "x": 955.8930053710938,
                        "y": 3403.503662109375,
                        "z": 370.22021484375
                    },
                    "rotation": {
                        "roll": 0.00023845645773690194,
                        "pitch": 0.6096353530883789,
                        "yaw": 99.14305877685547
                    }
                },
                "velocity": {
                    "x": -0.49708545207977295,
                    "y": 3.08733868598938,
                    "z": 0.0249897763133049
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0003142356872559,
        "expert_target_speed": 10.0,
        "target_point": [
            55.11086905070231,
            5.56179719768263
        ],
        "target_point_next": [
            105.89953620697379,
            10.201827315160303
        ]
    },
    "180": {
        "acceleration": [
            -0.22984027862548828,
            0.390625,
            0.009448230266571045
        ],
        "angular_velocity": [
            0.20692525804042816,
            1.1775718927383423,
            1.7094542980194092
        ],
        "forward_vector": [
            -0.0713593140244484,
            0.9974058270454407,
            0.009461142122745514
        ],
        "right_vector": [
            -0.9974470734596252,
            -0.07133041322231293,
            -0.003358500311151147
        ],
        "location": [
            959.4383544921875,
            3392.935302734375,
            370.1334533691406
        ],
        "rotation": [
            0.19243687391281128,
            0.5420916080474854,
            94.09224700927734
        ],
        "velocity": [
            -1.3278985023498535,
            18.421207427978516,
            0.17809227108955383
        ],
        "speed": 18.46900640362534,
        "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": 11.894479751586914,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                955.7727661132812,
                3404.25048828125,
                370.22674560546875
            ],
            "velocity": [
                -0.40683504939079285,
                2.527899980545044,
                0.020182304084300995
            ],
            "speed_kmh": 9.217828221011699,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 955.6337280273438,
                        "y": 3472.10205078125,
                        "z": 371.0138854980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.979976654052734,
                "transform": {
                    "location": {
                        "x": 962.1851196289062,
                        "y": 3431.853271484375,
                        "z": 370.41607666015625
                    },
                    "rotation": {
                        "roll": 0.016929995268583298,
                        "pitch": -0.3797311782836914,
                        "yaw": -80.55004119873047
                    }
                },
                "velocity": {
                    "x": 1.3065720796585083,
                    "y": -7.872125625610352,
                    "z": -0.050314854830503464
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.677004814147949,
                "transform": {
                    "location": {
                        "x": 958.5669555664062,
                        "y": 3433.77685546875,
                        "z": 370.43548583984375
                    },
                    "rotation": {
                        "roll": 0.0037674028426408768,
                        "pitch": -0.35748526453971863,
                        "yaw": -80.45884704589844
                    }
                },
                "velocity": {
                    "x": 0.9364442229270935,
                    "y": -5.599114894866943,
                    "z": -0.036974892020225525
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.2679443359375,
                        "y": 3307.79736328125,
                        "z": 368.9678039550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.078927993774414,
                "transform": {
                    "location": {
                        "x": 968.7649536132812,
                        "y": 3391.114990234375,
                        "z": 370.0943298339844
                    },
                    "rotation": {
                        "roll": -9.159826731774956e-05,
                        "pitch": -0.5594471096992493,
                        "yaw": -80.78123474121094
                    }
                },
                "velocity": {
                    "x": 1.293420433998108,
                    "y": -7.9743170738220215,
                    "z": -0.08003456145524979
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.068114280700684,
                "transform": {
                    "location": {
                        "x": 965.5869140625,
                        "y": 3390.411865234375,
                        "z": 370.1024169921875
                    },
                    "rotation": {
                        "roll": 0.0006930569652467966,
                        "pitch": -0.5585933327674866,
                        "yaw": -80.80944061279297
                    }
                },
                "velocity": {
                    "x": 1.2886210680007935,
                    "y": -7.964147090911865,
                    "z": -0.0792754516005516
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.05601978302002,
                "transform": {
                    "location": {
                        "x": 975.84326171875,
                        "y": 3347.16064453125,
                        "z": 369.6154479980469
                    },
                    "rotation": {
                        "roll": 0.0006815930246375501,
                        "pitch": -0.8107229471206665,
                        "yaw": -80.8632583618164
                    }
                },
                "velocity": {
                    "x": 1.279154896736145,
                    "y": -7.953028202056885,
                    "z": -0.11208699643611908
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.279692649841309,
                "transform": {
                    "location": {
                        "x": 972.6331176757812,
                        "y": 3346.637939453125,
                        "z": 369.5743408203125
                    },
                    "rotation": {
                        "roll": 2.1479940187418833e-05,
                        "pitch": -0.8197319507598877,
                        "yaw": -80.88914489746094
                    }
                },
                "velocity": {
                    "x": 1.3159773349761963,
                    "y": -8.17359733581543,
                    "z": -0.11754520237445831
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.0740966796875,
                        "y": 3322.8017578125,
                        "z": 369.22259521484375
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.71422004699707,
                "transform": {
                    "location": {
                        "x": 950.2715454101562,
                        "y": 3443.52783203125,
                        "z": 370.4957580566406
                    },
                    "rotation": {
                        "roll": 0.0020808244589716196,
                        "pitch": 0.3144482374191284,
                        "yaw": 99.34137725830078
                    }
                },
                "velocity": {
                    "x": -1.250454306602478,
                    "y": 7.612081050872803,
                    "z": 0.04213303327560425
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.6725969314575195,
                "transform": {
                    "location": {
                        "x": 947.73583984375,
                        "y": 3459.795166015625,
                        "z": 370.5828857421875
                    },
                    "rotation": {
                        "roll": 0.011811122298240662,
                        "pitch": 0.4160268008708954,
                        "yaw": 99.26253509521484
                    }
                },
                "velocity": {
                    "x": -1.111814260482788,
                    "y": 6.579195022583008,
                    "z": 0.04017035290598869
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.9944458007812,
                        "y": 3292.550537109375,
                        "z": 368.6762390136719
                    },
                    "rotation": {
                        "roll": 5.337100361657576e-08,
                        "pitch": 1.1176238059997559,
                        "yaw": 95.984619140625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.171236038208008,
                "transform": {
                    "location": {
                        "x": 969.1688232421875,
                        "y": 3346.459716796875,
                        "z": 369.58343505859375
                    },
                    "rotation": {
                        "roll": -0.00045777304330840707,
                        "pitch": 0.493843138217926,
                        "yaw": 99.11710357666016
                    }
                },
                "velocity": {
                    "x": -1.296651840209961,
                    "y": 8.066923141479492,
                    "z": 0.11198338866233826
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.437482833862305,
                "transform": {
                    "location": {
                        "x": 966.06396484375,
                        "y": 3365.7470703125,
                        "z": 369.833984375
                    },
                    "rotation": {
                        "roll": 0.0012866739416494966,
                        "pitch": 0.8567447066307068,
                        "yaw": 99.15103912353516
                    }
                },
                "velocity": {
                    "x": -1.6582353115081787,
                    "y": 10.304168701171875,
                    "z": 0.12409064918756485
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.525436401367188,
                "transform": {
                    "location": {
                        "x": 963.2108154296875,
                        "y": 3383.4765625,
                        "z": 370.03863525390625
                    },
                    "rotation": {
                        "roll": -0.0002442083496134728,
                        "pitch": 0.8844343423843384,
                        "yaw": 99.15223693847656
                    }
                },
                "velocity": {
                    "x": -1.8332059383392334,
                    "y": 11.378009796142578,
                    "z": 0.12628597021102905
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.053875684738159,
                "transform": {
                    "location": {
                        "x": 954.3145751953125,
                        "y": 3413.310302734375,
                        "z": 370.28955078125
                    },
                    "rotation": {
                        "roll": -0.003906252793967724,
                        "pitch": 0.1413712501525879,
                        "yaw": 99.14085388183594
                    }
                },
                "velocity": {
                    "x": -0.48490992188453674,
                    "y": 3.0150554180145264,
                    "z": 0.021443232893943787
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.5605077743530273,
                "transform": {
                    "location": {
                        "x": 955.7727661132812,
                        "y": 3404.25048828125,
                        "z": 370.22674560546875
                    },
                    "rotation": {
                        "roll": -0.0009460134315304458,
                        "pitch": 0.9822904467582703,
                        "yaw": 99.1430435180664
                    }
                },
                "velocity": {
                    "x": -0.40683504939079285,
                    "y": 2.527899980545044,
                    "z": 0.020182304084300995
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.000848412513733,
        "expert_target_speed": 10.0,
        "target_point": [
            50.513055977415426,
            5.394946310429718
        ],
        "target_point_next": [
            101.315256366132,
            9.884381315674148
        ]
    },
    "185": {
        "acceleration": [
            -0.5525064468383789,
            1.0238265991210938,
            -0.07604658603668213
        ],
        "angular_velocity": [
            0.11693596839904785,
            0.7352327108383179,
            1.5675204992294312
        ],
        "forward_vector": [
            -0.0784151554107666,
            0.9968746900558472,
            0.00958761665970087
        ],
        "right_vector": [
            -0.9969200491905212,
            -0.07842361927032471,
            0.0005086403689347208
        ],
        "location": [
            959.093017578125,
            3397.564697265625,
            370.1754150390625
        ],
        "rotation": [
            -0.02914428897202015,
            0.5493384003639221,
            94.4976806640625
        ],
        "velocity": [
            -1.4383479356765747,
            18.628652572631836,
            0.15968018770217896
        ],
        "speed": 18.684098625726843,
        "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": 8.095701217651367,
        "front_vehicle_info": {
            "id": 4041,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                955.6683349609375,
                3404.900146484375,
                370.231201171875
            ],
            "velocity": [
                -0.4320901036262512,
                2.6863491535186768,
                0.021471785381436348
            ],
            "speed_kmh": 9.795463507205424,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.1766967773438,
                        "y": 3473.128662109375,
                        "z": 370.8365478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.9591064453125,
                        "y": 3470.07958984375,
                        "z": 370.6697692871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.995414733886719,
                "transform": {
                    "location": {
                        "x": 962.4712524414062,
                        "y": 3430.12109375,
                        "z": 370.406982421875
                    },
                    "rotation": {
                        "roll": 0.021622393280267715,
                        "pitch": -0.929527223110199,
                        "yaw": -80.53870391845703
                    }
                },
                "velocity": {
                    "x": 0.9687696695327759,
                    "y": -5.9164958000183105,
                    "z": -0.03950962796807289
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.966226100921631,
                "transform": {
                    "location": {
                        "x": 958.8589477539062,
                        "y": 3432.028076171875,
                        "z": 370.42431640625
                    },
                    "rotation": {
                        "roll": 0.0006427461048588157,
                        "pitch": -0.11675524711608887,
                        "yaw": -80.47913360595703
                    }
                },
                "velocity": {
                    "x": 1.3100471496582031,
                    "y": -7.857608318328857,
                    "z": -0.05029083788394928
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.8289794921875,
                        "y": 3311.12744140625,
                        "z": 369.02740478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050613403320312,
                "transform": {
                    "location": {
                        "x": 969.0870971679688,
                        "y": 3389.123779296875,
                        "z": 370.07464599609375
                    },
                    "rotation": {
                        "roll": -0.0005187991191633046,
                        "pitch": -0.5613049268722534,
                        "yaw": -80.83717346191406
                    }
                },
                "velocity": {
                    "x": 1.2815715074539185,
                    "y": -7.947553634643555,
                    "z": -0.07960229367017746
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06209945678711,
                "transform": {
                    "location": {
                        "x": 965.9086303710938,
                        "y": 3388.419921875,
                        "z": 370.0826721191406
                    },
                    "rotation": {
                        "roll": -0.0003967037482652813,
                        "pitch": -0.5635042190551758,
                        "yaw": -80.82679748535156
                    }
                },
                "velocity": {
                    "x": 1.2851998805999756,
                    "y": -7.958603858947754,
                    "z": -0.07957958430051804
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014466285705566,
                "transform": {
                    "location": {
                        "x": 976.1621704101562,
                        "y": 3345.177734375,
                        "z": 369.5870361328125
                    },
                    "rotation": {
                        "roll": 2.935154839178722e-07,
                        "pitch": -0.8302026391029358,
                        "yaw": -80.86353302001953
                    }
                },
                "velocity": {
                    "x": 1.2724601030349731,
                    "y": -7.911966323852539,
                    "z": -0.11534065008163452
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.102002143859863,
                "transform": {
                    "location": {
                        "x": 972.9564819335938,
                        "y": 3344.627197265625,
                        "z": 369.54534912109375
                    },
                    "rotation": {
                        "roll": -0.0003051765961572528,
                        "pitch": -0.8373128175735474,
                        "yaw": -80.8452377319336
                    }
                },
                "velocity": {
                    "x": 1.2881029844284058,
                    "y": -7.998119354248047,
                    "z": -0.11537284404039383
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.5275268554688,
                        "y": 3326.216552734375,
                        "z": 369.2781982421875
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.433779716491699,
                "transform": {
                    "location": {
                        "x": 949.9863891601562,
                        "y": 3445.266845703125,
                        "z": 370.5054626464844
                    },
                    "rotation": {
                        "roll": 0.0016585272969678044,
                        "pitch": 0.2725996673107147,
                        "yaw": 99.29390716552734
                    }
                },
                "velocity": {
                    "x": -1.0352712869644165,
                    "y": 6.3498430252075195,
                    "z": 0.035065945237874985
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.568184852600098,
                "transform": {
                    "location": {
                        "x": 947.4590454101562,
                        "y": 3461.42626953125,
                        "z": 370.5926208496094
                    },
                    "rotation": {
                        "roll": 0.008877330459654331,
                        "pitch": 0.28797441720962524,
                        "yaw": 99.55912017822266
                    }
                },
                "velocity": {
                    "x": -1.113539218902588,
                    "y": 6.473024845123291,
                    "z": 0.032091427594423294
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.6722412109375,
                        "y": 3295.783447265625,
                        "z": 368.7409973144531
                    },
                    "rotation": {
                        "roll": 5.337100361657576e-08,
                        "pitch": 1.1176238059997559,
                        "yaw": 95.984619140625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.714117050170898,
                "transform": {
                    "location": {
                        "x": 968.8329467773438,
                        "y": 3348.549072265625,
                        "z": 369.611083984375
                    },
                    "rotation": {
                        "roll": -0.0005493498756550252,
                        "pitch": 0.7981007099151611,
                        "yaw": 99.15410614013672
                    }
                },
                "velocity": {
                    "x": -1.3846429586410522,
                    "y": 8.602595329284668,
                    "z": 0.11813447624444962
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.298893928527832,
                "transform": {
                    "location": {
                        "x": 965.6358642578125,
                        "y": 3368.408935546875,
                        "z": 369.8654479980469
                    },
                    "rotation": {
                        "roll": -9.15764831006527e-05,
                        "pitch": 0.8149303197860718,
                        "yaw": 99.13833618164062
                    }
                },
                "velocity": {
                    "x": -1.7939608097076416,
                    "y": 11.15481948852539,
                    "z": 0.12925313413143158
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.528637886047363,
                "transform": {
                    "location": {
                        "x": 962.7322998046875,
                        "y": 3386.449951171875,
                        "z": 370.0703430175781
                    },
                    "rotation": {
                        "roll": 0.0014001913368701935,
                        "pitch": 0.7986949682235718,
                        "yaw": 99.13619232177734
                    }
                },
                "velocity": {
                    "x": -1.9896172285079956,
                    "y": 12.368985176086426,
                    "z": 0.12804937362670898
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.0984067916870117,
                "transform": {
                    "location": {
                        "x": 954.1936645507812,
                        "y": 3414.061767578125,
                        "z": 370.2948303222656
                    },
                    "rotation": {
                        "roll": -0.0005188012146390975,
                        "pitch": 0.06595230102539062,
                        "yaw": 99.14104461669922
                    }
                },
                "velocity": {
                    "x": -0.4922092854976654,
                    "y": 3.0589888095855713,
                    "z": 0.021043233573436737
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.7209620475769043,
                "transform": {
                    "location": {
                        "x": 955.6683349609375,
                        "y": 3404.900146484375,
                        "z": 370.231201171875
                    },
                    "rotation": {
                        "roll": 0.0007783721084706485,
                        "pitch": 0.6544208526611328,
                        "yaw": 99.14276123046875
                    }
                },
                "velocity": {
                    "x": -0.4320901036262512,
                    "y": 2.6863491535186768,
                    "z": 0.021471785381436348
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9991879463195801,
        "expert_target_speed": 10.0,
        "target_point": [
            45.90773938079711,
            5.056208621584926
        ],
        "target_point_next": [
            96.74042911986189,
            9.186129310121995
        ]
    },
    "190": {
        "acceleration": [
            -0.6127715110778809,
            1.1384201049804688,
            0.013673901557922363
        ],
        "angular_velocity": [
            0.14154735207557678,
            0.2941311001777649,
            1.5486524105072021
        ],
        "forward_vector": [
            -0.08514530956745148,
            0.99631267786026,
            0.01054875273257494
        ],
        "right_vector": [
            -0.9963625073432922,
            -0.08517671376466751,
            0.0025628809817135334
        ],
        "location": [
            958.7145385742188,
            3402.258056640625,
            370.21484375
        ],
        "rotation": [
            -0.1468505859375,
            0.6044102311134338,
            94.88465118408203
        ],
        "velocity": [
            -1.5876693725585938,
            18.906213760375977,
            0.15888631343841553
        ],
        "speed": 18.972759756808983,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.5071411132812,
                        "y": 3471.0751953125,
                        "z": 370.7059631347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.844306468963623,
                "transform": {
                    "location": {
                        "x": 956.2634887695312,
                        "y": 3468.208251953125,
                        "z": 370.6305847167969
                    },
                    "rotation": {
                        "roll": 0.012984123080968857,
                        "pitch": -0.09299302101135254,
                        "yaw": -80.7303237915039
                    }
                },
                "velocity": {
                    "x": 1.1506398916244507,
                    "y": -6.745008945465088,
                    "z": -0.15941090881824493
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.735480308532715,
                "transform": {
                    "location": {
                        "x": 962.7052001953125,
                        "y": 3428.693359375,
                        "z": 370.3968811035156
                    },
                    "rotation": {
                        "roll": 0.00868324562907219,
                        "pitch": -0.7217665314674377,
                        "yaw": -80.61750793457031
                    }
                },
                "velocity": {
                    "x": 0.9251871109008789,
                    "y": -5.6602463722229,
                    "z": -0.03709591180086136
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.217686653137207,
                "transform": {
                    "location": {
                        "x": 959.1967163085938,
                        "y": 3429.993896484375,
                        "z": 370.410888671875
                    },
                    "rotation": {
                        "roll": 0.005880446173250675,
                        "pitch": -0.27331000566482544,
                        "yaw": -80.6816177368164
                    }
                },
                "velocity": {
                    "x": 1.3427579402923584,
                    "y": -8.107071876525879,
                    "z": -0.05257171392440796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.4392700195312,
                        "y": 3313.87109375,
                        "z": 369.0745544433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9480370283126831,
                        "yaw": 98.44479370117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0498685836792,
                "transform": {
                    "location": {
                        "x": 969.4071044921875,
                        "y": 3387.138427734375,
                        "z": 370.0548400878906
                    },
                    "rotation": {
                        "roll": -0.0010375725105404854,
                        "pitch": -0.5671378970146179,
                        "yaw": -80.820068359375
                    }
                },
                "velocity": {
                    "x": 1.2818293571472168,
                    "y": -7.9467082023620605,
                    "z": -0.08436314761638641
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043708801269531,
                "transform": {
                    "location": {
                        "x": 966.2293701171875,
                        "y": 3386.43408203125,
                        "z": 370.0626220703125
                    },
                    "rotation": {
                        "roll": 8.708940731594339e-05,
                        "pitch": -0.5826355814933777,
                        "yaw": -80.82830047607422
                    }
                },
                "velocity": {
                    "x": 1.2820295095443726,
                    "y": -7.940439224243164,
                    "z": -0.08411924540996552
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.052783966064453,
                "transform": {
                    "location": {
                        "x": 976.4810791015625,
                        "y": 3343.19482421875,
                        "z": 369.5580749511719
                    },
                    "rotation": {
                        "roll": 0.0001758956495905295,
                        "pitch": -0.8260840177536011,
                        "yaw": -80.86357116699219
                    }
                },
                "velocity": {
                    "x": 1.2785564661026,
                    "y": -7.9497971534729,
                    "z": -0.11553972959518433
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.798776149749756,
                "transform": {
                    "location": {
                        "x": 973.2447509765625,
                        "y": 3342.838623046875,
                        "z": 369.5195617675781
                    },
                    "rotation": {
                        "roll": 0.0007945523830130696,
                        "pitch": -0.8594357967376709,
                        "yaw": -80.88932800292969
                    }
                },
                "velocity": {
                    "x": 1.0798656940460205,
                    "y": -6.711740016937256,
                    "z": -0.09893915057182312
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.058349609375,
                        "y": 3329.13427734375,
                        "z": 369.32537841796875
                    },
                    "rotation": {
                        "roll": 2.6683723675091642e-08,
                        "pitch": 0.9008882641792297,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.107649803161621,
                "transform": {
                    "location": {
                        "x": 949.7384033203125,
                        "y": 3446.7890625,
                        "z": 370.5133972167969
                    },
                    "rotation": {
                        "roll": 0.0008689117967151105,
                        "pitch": 0.2798328399658203,
                        "yaw": 99.24711608886719
                    }
                },
                "velocity": {
                    "x": -0.9788198471069336,
                    "y": 6.028627872467041,
                    "z": 0.030762633308768272
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.621096611022949,
                "transform": {
                    "location": {
                        "x": 947.1801147460938,
                        "y": 3463.05126953125,
                        "z": 370.6001892089844
                    },
                    "rotation": {
                        "roll": 0.0047399308532476425,
                        "pitch": 0.25404202938079834,
                        "yaw": 99.7022933959961
                    }
                },
                "velocity": {
                    "x": -1.126065969467163,
                    "y": 6.524575710296631,
                    "z": 0.028439387679100037
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.3482666015625,
                        "y": 3298.76904296875,
                        "z": 368.79901123046875
                    },
                    "rotation": {
                        "roll": 1.0674049377712436e-07,
                        "pitch": 1.0752356052398682,
                        "yaw": 96.59965515136719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.046537399291992,
                "transform": {
                    "location": {
                        "x": 968.4639892578125,
                        "y": 3350.841552734375,
                        "z": 369.64056396484375
                    },
                    "rotation": {
                        "roll": -0.0023193168453872204,
                        "pitch": 1.1505794525146484,
                        "yaw": 99.1640396118164
                    }
                },
                "velocity": {
                    "x": -1.5974732637405396,
                    "y": 9.917850494384766,
                    "z": 0.13128399848937988
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.457669258117676,
                "transform": {
                    "location": {
                        "x": 965.1613159179688,
                        "y": 3371.359375,
                        "z": 369.9000244140625
                    },
                    "rotation": {
                        "roll": 0.00027817380032502115,
                        "pitch": 0.8470526933670044,
                        "yaw": 99.14221954345703
                    }
                },
                "velocity": {
                    "x": -1.9787850379943848,
                    "y": 12.29867172241211,
                    "z": 0.14357887208461761
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.892215728759766,
                "transform": {
                    "location": {
                        "x": 962.2197265625,
                        "y": 3389.63623046875,
                        "z": 370.10205078125
                    },
                    "rotation": {
                        "roll": 0.0006876293919049203,
                        "pitch": 0.6781352758407593,
                        "yaw": 99.13479614257812
                    }
                },
                "velocity": {
                    "x": -2.046778440475464,
                    "y": 12.728095054626465,
                    "z": 0.124600350856781
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.151167869567871,
                "transform": {
                    "location": {
                        "x": 954.06787109375,
                        "y": 3414.84375,
                        "z": 370.3002014160156
                    },
                    "rotation": {
                        "roll": -0.0005493168137036264,
                        "pitch": 0.04846018925309181,
                        "yaw": 99.14100646972656
                    }
                },
                "velocity": {
                    "x": -0.5004308819770813,
                    "y": 3.111102342605591,
                    "z": 0.021674318239092827
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.921391248703003,
                "transform": {
                    "location": {
                        "x": 955.55615234375,
                        "y": 3405.5966796875,
                        "z": 370.23626708984375
                    },
                    "rotation": {
                        "roll": 0.0019668375607579947,
                        "pitch": 0.5483412146568298,
                        "yaw": 99.14360046386719
                    }
                },
                "velocity": {
                    "x": -0.4644974172115326,
                    "y": 2.8841500282287598,
                    "z": 0.02118080109357834
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9990676045417786,
        "expert_target_speed": 10.0,
        "target_point": [
            41.23230003596439,
            4.76856946087735
        ],
        "target_point_next": [
            92.09172334939018,
            8.555078569197402
        ]
    },
    "195": {
        "acceleration": [
            -0.8038973808288574,
            0.7518768310546875,
            -0.12309640645980835
        ],
        "angular_velocity": [
            -0.2319248467683792,
            0.3153420388698578,
            2.3477163314819336
        ],
        "forward_vector": [
            -0.09293348342180252,
            0.9956257939338684,
            0.009622186422348022
        ],
        "right_vector": [
            -0.9956619143486023,
            -0.09297237545251846,
            0.003675516229122877
        ],
        "location": [
            958.2969970703125,
            3407.018310546875,
            370.2528381347656
        ],
        "rotation": [
            -0.210601806640625,
            0.5513191819190979,
            95.3326416015625
        ],
        "velocity": [
            -1.7643237113952637,
            19.15032958984375,
            0.14188595116138458
        ],
        "speed": 19.231431604491554,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.0130791664123535,
                "transform": {
                    "location": {
                        "x": 952.7960815429688,
                        "y": 3469.331787109375,
                        "z": 370.6166687011719
                    },
                    "rotation": {
                        "roll": -0.005493168719112873,
                        "pitch": -0.2581538259983063,
                        "yaw": -80.53226470947266
                    }
                },
                "velocity": {
                    "x": 1.1804215908050537,
                    "y": -6.912012577056885,
                    "z": -0.11819078028202057
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.7595977783203125,
                "transform": {
                    "location": {
                        "x": 956.5499877929688,
                        "y": 3466.533447265625,
                        "z": 370.60888671875
                    },
                    "rotation": {
                        "roll": 0.004270243924111128,
                        "pitch": -0.20946823060512543,
                        "yaw": -80.37727355957031
                    }
                },
                "velocity": {
                    "x": 1.1562135219573975,
                    "y": -6.659832000732422,
                    "z": -0.044375404715538025
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.246489524841309,
                "transform": {
                    "location": {
                        "x": 962.9647216796875,
                        "y": 3427.10595703125,
                        "z": 370.3840637207031
                    },
                    "rotation": {
                        "roll": 0.005648416001349688,
                        "pitch": -0.08886758983135223,
                        "yaw": -80.69515991210938
                    }
                },
                "velocity": {
                    "x": 1.1670176982879639,
                    "y": -7.151739120483398,
                    "z": -0.047988712787628174
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.930809020996094,
                "transform": {
                    "location": {
                        "x": 959.5206298828125,
                        "y": 3428.015625,
                        "z": 370.3978576660156
                    },
                    "rotation": {
                        "roll": 0.009736043401062489,
                        "pitch": -0.3869301974773407,
                        "yaw": -80.87654113769531
                    }
                },
                "velocity": {
                    "x": 1.2741270065307617,
                    "y": -7.827616214752197,
                    "z": -0.05247441306710243
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.9255981445312,
                        "y": 3317.3837890625,
                        "z": 369.1341247558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0606050491333,
                "transform": {
                    "location": {
                        "x": 969.7278442382812,
                        "y": 3385.14990234375,
                        "z": 370.03375244140625
                    },
                    "rotation": {
                        "roll": 0.0003774436190724373,
                        "pitch": -0.623104453086853,
                        "yaw": -80.86137390136719
                    }
                },
                "velocity": {
                    "x": 1.2798984050750732,
                    "y": -7.957891464233398,
                    "z": -0.0846811830997467
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.069548606872559,
                "transform": {
                    "location": {
                        "x": 966.5501098632812,
                        "y": 3384.4453125,
                        "z": 370.041748046875
                    },
                    "rotation": {
                        "roll": -0.0003967354423366487,
                        "pitch": -0.6329330801963806,
                        "yaw": -80.83708190917969
                    }
                },
                "velocity": {
                    "x": 1.2848691940307617,
                    "y": -7.966153621673584,
                    "z": -0.08442992717027664
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.018624305725098,
                "transform": {
                    "location": {
                        "x": 976.7999877929688,
                        "y": 3341.212158203125,
                        "z": 369.529296875
                    },
                    "rotation": {
                        "roll": 0.0006934963166713715,
                        "pitch": -0.8260771632194519,
                        "yaw": -80.86370849609375
                    }
                },
                "velocity": {
                    "x": 1.2730786800384521,
                    "y": -7.916072845458984,
                    "z": -0.1157311350107193
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.154465198516846,
                "transform": {
                    "location": {
                        "x": 973.5186767578125,
                        "y": 3341.136474609375,
                        "z": 369.49432373046875
                    },
                    "rotation": {
                        "roll": -0.0005798784550279379,
                        "pitch": -0.8203739523887634,
                        "yaw": -80.8624038696289
                    }
                },
                "velocity": {
                    "x": 1.1380285024642944,
                    "y": -7.062636375427246,
                    "z": -0.10214057564735413
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.5394287109375,
                        "y": 3332.359619140625,
                        "z": 369.376708984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8667168021202087,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.4837141036987305,
                "transform": {
                    "location": {
                        "x": 949.4835205078125,
                        "y": 3448.359375,
                        "z": 370.5212707519531
                    },
                    "rotation": {
                        "roll": 0.00032956115319393575,
                        "pitch": 0.30076736211776733,
                        "yaw": 99.22052001953125
                    }
                },
                "velocity": {
                    "x": -1.0374970436096191,
                    "y": 6.400082111358643,
                    "z": 0.033160075545310974
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.195226669311523,
                "transform": {
                    "location": {
                        "x": 946.9057006835938,
                        "y": 3464.655029296875,
                        "z": 370.6070251464844
                    },
                    "rotation": {
                        "roll": -0.006225584540516138,
                        "pitch": 0.26669156551361084,
                        "yaw": 99.68952178955078
                    }
                },
                "velocity": {
                    "x": -1.0221670866012573,
                    "y": 6.110261917114258,
                    "z": 0.02657332271337509
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.9640502929688,
                        "y": 3302.1708984375,
                        "z": 368.8641357421875
                    },
                    "rotation": {
                        "roll": -5.3369518582258024e-08,
                        "pitch": 1.0328338146209717,
                        "yaw": 97.21468353271484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.103188514709473,
                "transform": {
                    "location": {
                        "x": 968.0416870117188,
                        "y": 3353.463134765625,
                        "z": 369.67523193359375
                    },
                    "rotation": {
                        "roll": -0.0007629204192198813,
                        "pitch": 1.246133804321289,
                        "yaw": 99.15458679199219
                    }
                },
                "velocity": {
                    "x": -1.7641425132751465,
                    "y": 10.961164474487305,
                    "z": 0.14655505120754242
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.183028221130371,
                "transform": {
                    "location": {
                        "x": 964.6637573242188,
                        "y": 3374.451416015625,
                        "z": 369.9359436035156
                    },
                    "rotation": {
                        "roll": 0.00015176886518020183,
                        "pitch": 0.6773566603660583,
                        "yaw": 99.14044952392578
                    }
                },
                "velocity": {
                    "x": -1.9345752000808716,
                    "y": 12.027624130249023,
                    "z": 0.14088143408298492
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.1387300491333,
                "transform": {
                    "location": {
                        "x": 961.7430419921875,
                        "y": 3392.60107421875,
                        "z": 370.1310729980469
                    },
                    "rotation": {
                        "roll": 0.00011145922326250002,
                        "pitch": 0.3206363916397095,
                        "yaw": 99.13410186767578
                    }
                },
                "velocity": {
                    "x": -1.7681514024734497,
                    "y": 10.996957778930664,
                    "z": 0.10891742259263992
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165029764175415,
                "transform": {
                    "location": {
                        "x": 953.942138671875,
                        "y": 3415.62451171875,
                        "z": 370.3055725097656
                    },
                    "rotation": {
                        "roll": -6.103151827119291e-05,
                        "pitch": 0.07123203575611115,
                        "yaw": 99.14168548583984
                    }
                },
                "velocity": {
                    "x": -0.5028405785560608,
                    "y": 3.1247589588165283,
                    "z": 0.021135596558451653
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.122190475463867,
                "transform": {
                    "location": {
                        "x": 955.4359741210938,
                        "y": 3406.34375,
                        "z": 370.2418518066406
                    },
                    "rotation": {
                        "roll": 0.0008676319266669452,
                        "pitch": 0.5354594588279724,
                        "yaw": 99.14277648925781
                    }
                },
                "velocity": {
                    "x": -0.4962041676044464,
                    "y": 3.082432508468628,
                    "z": 0.021548327058553696
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0007797479629517,
        "expert_target_speed": 10.0,
        "target_point": [
            36.48986894992448,
            4.472694848526889
        ],
        "target_point_next": [
            87.37734458957671,
            7.861413489168189
        ]
    },
    "200": {
        "acceleration": [
            -1.0275769233703613,
            0.5437469482421875,
            0.003167390823364258
        ],
        "angular_velocity": [
            -0.08043787628412247,
            0.3525433838367462,
            3.090251922607422
        ],
        "forward_vector": [
            -0.10488605499267578,
            0.9944420456886292,
            0.009161701425909996
        ],
        "right_vector": [
            -0.9944663047790527,
            -0.10493502020835876,
            0.005037402268499136
        ],
        "location": [
            957.8292846679688,
            3411.82421875,
            370.2878723144531
        ],
        "rotation": [
            -0.2886352241039276,
            0.5249341726303101,
            96.02085876464844
        ],
        "velocity": [
            -1.9933761358261108,
            19.28962516784668,
            0.13909707963466644
        ],
        "speed": 19.392348685368287,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.775688648223877,
                "transform": {
                    "location": {
                        "x": 953.0841064453125,
                        "y": 3467.63427734375,
                        "z": 370.60504150390625
                    },
                    "rotation": {
                        "roll": -0.003326411359012127,
                        "pitch": -0.24072317779064178,
                        "yaw": -80.33647155761719
                    }
                },
                "velocity": {
                    "x": 1.1406021118164062,
                    "y": -6.678965091705322,
                    "z": -0.020267199724912643
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.8313164710998535,
                "transform": {
                    "location": {
                        "x": 956.8392944335938,
                        "y": 3464.858642578125,
                        "z": 370.6010437011719
                    },
                    "rotation": {
                        "roll": -0.007720957975834608,
                        "pitch": -0.2434074431657791,
                        "yaw": -80.24540710449219
                    }
                },
                "velocity": {
                    "x": 1.1392511129379272,
                    "y": -6.7355875968933105,
                    "z": -0.029107727110385895
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.452836036682129,
                "transform": {
                    "location": {
                        "x": 963.2841186523438,
                        "y": 3425.1474609375,
                        "z": 370.3702392578125
                    },
                    "rotation": {
                        "roll": 0.006361846346408129,
                        "pitch": 0.09651056677103043,
                        "yaw": -80.73668670654297
                    }
                },
                "velocity": {
                    "x": 1.3554586172103882,
                    "y": -8.343257904052734,
                    "z": -0.056684888899326324
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.094391822814941,
                "transform": {
                    "location": {
                        "x": 959.8406982421875,
                        "y": 3426.0400390625,
                        "z": 370.384765625
                    },
                    "rotation": {
                        "roll": 0.005155585706233978,
                        "pitch": -0.35760819911956787,
                        "yaw": -80.96398162841797
                    }
                },
                "velocity": {
                    "x": 1.2920585870742798,
                    "y": -7.9904303550720215,
                    "z": -0.05274467170238495
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.4943237304688,
                        "y": 3320.17236328125,
                        "z": 369.1799011230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05186939239502,
                "transform": {
                    "location": {
                        "x": 970.0478515625,
                        "y": 3383.161865234375,
                        "z": 370.0118408203125
                    },
                    "rotation": {
                        "roll": -0.0003662378585431725,
                        "pitch": -0.6330491900444031,
                        "yaw": -80.83222198486328
                    }
                },
                "velocity": {
                    "x": 1.2805739641189575,
                    "y": -7.948888301849365,
                    "z": -0.08889102935791016
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048179626464844,
                "transform": {
                    "location": {
                        "x": 966.8706665039062,
                        "y": 3382.45654296875,
                        "z": 370.0195617675781
                    },
                    "rotation": {
                        "roll": 0.0006161421188153327,
                        "pitch": -0.6342103481292725,
                        "yaw": -80.84386444091797
                    }
                },
                "velocity": {
                    "x": 1.2798281908035278,
                    "y": -7.9452714920043945,
                    "z": -0.08889850229024887
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4058,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.0905151367188,
                        "y": 3339.17919921875,
                        "z": 369.4871520996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8667578101158142,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4057,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.8035888671875,
                        "y": 3339.172119140625,
                        "z": 369.4676818847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8667578101158142,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.0860595703125,
                        "y": 3335.1767578125,
                        "z": 369.4207458496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8667168021202087,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.692266464233398,
                "transform": {
                    "location": {
                        "x": 949.1978759765625,
                        "y": 3450.12158203125,
                        "z": 370.5303955078125
                    },
                    "rotation": {
                        "roll": 0.001119834603741765,
                        "pitch": 0.3178360164165497,
                        "yaw": 99.20236206054688
                    }
                },
                "velocity": {
                    "x": -1.2283475399017334,
                    "y": 7.5934624671936035,
                    "z": 0.038105133920907974
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.125602722167969,
                "transform": {
                    "location": {
                        "x": 946.6557006835938,
                        "y": 3466.1474609375,
                        "z": 370.6134033203125
                    },
                    "rotation": {
                        "roll": -0.0015564049826934934,
                        "pitch": 0.2578122913837433,
                        "yaw": 99.55484771728516
                    }
                },
                "velocity": {
                    "x": -1.0060539245605469,
                    "y": 6.042367458343506,
                    "z": 0.025637416169047356
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.624267578125,
                        "y": 3304.988037109375,
                        "z": 368.9166259765625
                    },
                    "rotation": {
                        "roll": -5.3369518582258024e-08,
                        "pitch": 1.0328338146209717,
                        "yaw": 97.21468353271484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.518418312072754,
                "transform": {
                    "location": {
                        "x": 967.5865478515625,
                        "y": 3356.292724609375,
                        "z": 369.7130432128906
                    },
                    "rotation": {
                        "roll": 0.0022165251430124044,
                        "pitch": 1.0826053619384766,
                        "yaw": 99.12793731689453
                    }
                },
                "velocity": {
                    "x": -1.8271677494049072,
                    "y": 11.371639251708984,
                    "z": 0.1457337588071823
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.603751182556152,
                "transform": {
                    "location": {
                        "x": 964.2083129882812,
                        "y": 3377.2841796875,
                        "z": 369.96807861328125
                    },
                    "rotation": {
                        "roll": 0.000772408558987081,
                        "pitch": 0.4479784369468689,
                        "yaw": 99.12565612792969
                    }
                },
                "velocity": {
                    "x": -1.6824570894241333,
                    "y": 10.468764305114746,
                    "z": 0.11771532148122787
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.461219787597656,
                "transform": {
                    "location": {
                        "x": 961.3361206054688,
                        "y": 3395.1318359375,
                        "z": 370.1551513671875
                    },
                    "rotation": {
                        "roll": -0.00021363796258810908,
                        "pitch": 0.18615679442882538,
                        "yaw": 99.1346664428711
                    }
                },
                "velocity": {
                    "x": -1.5019103288650513,
                    "y": 9.340837478637695,
                    "z": 0.08779985457658768
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.167830228805542,
                "transform": {
                    "location": {
                        "x": 953.8165283203125,
                        "y": 3416.405517578125,
                        "z": 370.3109436035156
                    },
                    "rotation": {
                        "roll": -9.155062434729189e-05,
                        "pitch": 0.0781715139746666,
                        "yaw": 99.141357421875
                    }
                },
                "velocity": {
                    "x": -0.5032472014427185,
                    "y": 3.12752628326416,
                    "z": 0.021669844165444374
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1536738872528076,
                "transform": {
                    "location": {
                        "x": 955.3098754882812,
                        "y": 3407.127197265625,
                        "z": 370.247802734375
                    },
                    "rotation": {
                        "roll": -0.00021364232816267759,
                        "pitch": 0.6117185354232788,
                        "yaw": 99.14302062988281
                    }
                },
                "velocity": {
                    "x": -0.5010968446731567,
                    "y": 3.113532066345215,
                    "z": 0.021892566233873367
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9990578293800354,
        "expert_target_speed": 0,
        "target_point": [
            31.712508736713556,
            4.072996546943265
        ],
        "target_point_next": [
            82.63702016226279,
            6.850176244178634
        ]
    },
    "205": {
        "acceleration": [
            -1.2823200225830078,
            0.6243133544921875,
            -0.03670543432235718
        ],
        "angular_velocity": [
            -0.10115601867437363,
            0.3186519742012024,
            3.8034183979034424
        ],
        "forward_vector": [
            -0.12016743421554565,
            0.9927169680595398,
            0.008530750870704651
        ],
        "right_vector": [
            -0.9927254915237427,
            -0.12022428214550018,
            0.006495701149106026
        ],
        "location": [
            957.2953491210938,
            3416.665771484375,
            370.3221130371094
        ],
        "rotation": [
            -0.3721924126148224,
            0.48878195881843567,
            96.90201568603516
        ],
        "velocity": [
            -2.2941203117370605,
            19.4417724609375,
            0.132137730717659
        ],
        "speed": 19.576657131073024,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.993805408477783,
                "transform": {
                    "location": {
                        "x": 953.3739624023438,
                        "y": 3465.9365234375,
                        "z": 370.5992431640625
                    },
                    "rotation": {
                        "roll": -0.0026550053153187037,
                        "pitch": -0.23784767091274261,
                        "yaw": -80.2943344116211
                    }
                },
                "velocity": {
                    "x": 1.1788579225540161,
                    "y": -6.893684387207031,
                    "z": -0.026932019740343094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.37900447845459,
                "transform": {
                    "location": {
                        "x": 957.1185913085938,
                        "y": 3463.201904296875,
                        "z": 370.59368896484375
                    },
                    "rotation": {
                        "roll": -0.005004866514354944,
                        "pitch": -0.2271447628736496,
                        "yaw": -80.39018249511719
                    }
                },
                "velocity": {
                    "x": 1.0536876916885376,
                    "y": -6.291316509246826,
                    "z": -0.02793761156499386
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027054786682129,
                "transform": {
                    "location": {
                        "x": 963.6160888671875,
                        "y": 3423.10107421875,
                        "z": 370.3576965332031
                    },
                    "rotation": {
                        "roll": 0.007527574896812439,
                        "pitch": -0.28494182229042053,
                        "yaw": -80.79139709472656
                    }
                },
                "velocity": {
                    "x": 1.2826216220855713,
                    "y": -7.923722267150879,
                    "z": -0.05576131120324135
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.083819389343262,
                "transform": {
                    "location": {
                        "x": 960.1641235351562,
                        "y": 3424.037841796875,
                        "z": 370.37127685546875
                    },
                    "rotation": {
                        "roll": 0.004070301074534655,
                        "pitch": -0.39257192611694336,
                        "yaw": -80.9748306274414
                    }
                },
                "velocity": {
                    "x": 1.2867672443389893,
                    "y": -7.980569362640381,
                    "z": -0.05365989729762077
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.0513916015625,
                        "y": 3322.955810546875,
                        "z": 369.2252197265625
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.056002616882324,
                "transform": {
                    "location": {
                        "x": 970.3683471679688,
                        "y": 3381.17431640625,
                        "z": 369.9896545410156
                    },
                    "rotation": {
                        "roll": 0.00014296238077804446,
                        "pitch": -0.6305835247039795,
                        "yaw": -80.86357116699219
                    }
                },
                "velocity": {
                    "x": 1.2812883853912354,
                    "y": -7.952970027923584,
                    "z": -0.08798351138830185
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06312370300293,
                "transform": {
                    "location": {
                        "x": 967.1906127929688,
                        "y": 3380.46826171875,
                        "z": 369.99749755859375
                    },
                    "rotation": {
                        "roll": 0.00027071606018580496,
                        "pitch": -0.6317378282546997,
                        "yaw": -80.86071014404297
                    }
                },
                "velocity": {
                    "x": 1.2795690298080444,
                    "y": -7.9604644775390625,
                    "z": -0.08762458711862564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.6455078125,
                        "y": 3337.913330078125,
                        "z": 369.46234130859375
                    },
                    "rotation": {
                        "roll": -2.6683242282388164e-08,
                        "pitch": 0.8325248956680298,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.273212432861328,
                "transform": {
                    "location": {
                        "x": 948.8926391601562,
                        "y": 3452.009521484375,
                        "z": 370.5403747558594
                    },
                    "rotation": {
                        "roll": 0.0004160732787568122,
                        "pitch": 0.29158759117126465,
                        "yaw": 99.17713928222656
                    }
                },
                "velocity": {
                    "x": -1.1594812870025635,
                    "y": 7.180099964141846,
                    "z": 0.03719612956047058
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.889194488525391,
                "transform": {
                    "location": {
                        "x": 946.3890991210938,
                        "y": 3467.74658203125,
                        "z": 370.6207580566406
                    },
                    "rotation": {
                        "roll": 0.001397633459419012,
                        "pitch": 0.16880129277706146,
                        "yaw": 99.48796081542969
                    }
                },
                "velocity": {
                    "x": -1.1312059164047241,
                    "y": 6.795628070831299,
                    "z": 0.028513019904494286
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.266357421875,
                        "y": 3307.819580078125,
                        "z": 368.96832275390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.367227554321289,
                "transform": {
                    "location": {
                        "x": 967.1522216796875,
                        "y": 3358.993408203125,
                        "z": 369.7489318847656
                    },
                    "rotation": {
                        "roll": 6.694416515529156e-05,
                        "pitch": 0.5403771996498108,
                        "yaw": 99.12753295898438
                    }
                },
                "velocity": {
                    "x": -1.6461459398269653,
                    "y": 10.234941482543945,
                    "z": 0.12488135695457458
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.860210418701172,
                "transform": {
                    "location": {
                        "x": 963.8302001953125,
                        "y": 3379.636474609375,
                        "z": 369.9940185546875
                    },
                    "rotation": {
                        "roll": 0.0002767753612715751,
                        "pitch": 0.37576285004615784,
                        "yaw": 99.12492370605469
                    }
                },
                "velocity": {
                    "x": -1.406423807144165,
                    "y": 8.747328758239746,
                    "z": 0.0976550430059433
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.648629188537598,
                "transform": {
                    "location": {
                        "x": 960.9618530273438,
                        "y": 3397.459228515625,
                        "z": 370.17633056640625
                    },
                    "rotation": {
                        "roll": -0.0008239815360866487,
                        "pitch": 0.43050679564476013,
                        "yaw": 99.1368408203125
                    }
                },
                "velocity": {
                    "x": -1.53297758102417,
                    "y": 9.525720596313477,
                    "z": 0.08173783868551254
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1668355464935303,
                "transform": {
                    "location": {
                        "x": 953.6908569335938,
                        "y": 3417.1865234375,
                        "z": 370.3162536621094
                    },
                    "rotation": {
                        "roll": -0.0003356900706421584,
                        "pitch": 0.08003615587949753,
                        "yaw": 99.14192962646484
                    }
                },
                "velocity": {
                    "x": -0.5031144618988037,
                    "y": 3.126544713973999,
                    "z": 0.020984705537557602
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.167963743209839,
                "transform": {
                    "location": {
                        "x": 955.184326171875,
                        "y": 3407.907470703125,
                        "z": 370.2535705566406
                    },
                    "rotation": {
                        "roll": -0.0011291037080809474,
                        "pitch": 0.6296204924583435,
                        "yaw": 99.14324188232422
                    }
                },
                "velocity": {
                    "x": -0.5032323598861694,
                    "y": 3.127659797668457,
                    "z": 0.022271394729614258
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9998971819877625,
        "expert_target_speed": 0,
        "target_point": [
            26.900759722288,
            3.636615526170939
        ],
        "target_point_next": [
            77.86195518633711,
            5.630392814788918
        ]
    },
    "210": {
        "acceleration": [
            -0.9294223785400391,
            -0.173492431640625,
            -0.00036537647247314453
        ],
        "angular_velocity": [
            -0.17077162861824036,
            -0.12708790600299835,
            2.440225601196289
        ],
        "forward_vector": [
            -0.1340993046760559,
            0.9909342527389526,
            0.008166579529643059
        ],
        "right_vector": [
            -0.9909367561340332,
            -0.13415586948394775,
            0.006824336014688015
        ],
        "location": [
            956.686767578125,
            3421.53955078125,
            370.35504150390625
        ],
        "rotation": [
            -0.391021728515625,
            0.46791574358940125,
            97.70680236816406
        ],
        "velocity": [
            -2.5674922466278076,
            19.503963470458984,
            0.13074813783168793
        ],
        "speed": 19.672229347318325,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.518864154815674,
                "transform": {
                    "location": {
                        "x": 953.6737060546875,
                        "y": 3464.182373046875,
                        "z": 370.5916748046875
                    },
                    "rotation": {
                        "roll": -0.001647957251407206,
                        "pitch": -0.23767007887363434,
                        "yaw": -80.30323028564453
                    }
                },
                "velocity": {
                    "x": 1.2544643878936768,
                    "y": -7.413402080535889,
                    "z": -0.03330712765455246
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.289286136627197,
                "transform": {
                    "location": {
                        "x": 957.3761596679688,
                        "y": 3461.665771484375,
                        "z": 370.5868225097656
                    },
                    "rotation": {
                        "roll": -0.0017395112663507462,
                        "pitch": -0.23269769549369812,
                        "yaw": -80.45987701416016
                    }
                },
                "velocity": {
                    "x": 1.037588357925415,
                    "y": -6.203039646148682,
                    "z": -0.028859099373221397
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.872551441192627,
                "transform": {
                    "location": {
                        "x": 963.9295043945312,
                        "y": 3421.1640625,
                        "z": 370.3448486328125
                    },
                    "rotation": {
                        "roll": 0.005049244035035372,
                        "pitch": -0.4374394416809082,
                        "yaw": -80.81202697753906
                    }
                },
                "velocity": {
                    "x": 1.2557520866394043,
                    "y": -7.771572113037109,
                    "z": -0.05316195264458656
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.997152328491211,
                "transform": {
                    "location": {
                        "x": 960.4827270507812,
                        "y": 3422.059326171875,
                        "z": 370.35772705078125
                    },
                    "rotation": {
                        "roll": 0.002512088045477867,
                        "pitch": -0.39404043555259705,
                        "yaw": -81.01805114746094
                    }
                },
                "velocity": {
                    "x": 1.2707719802856445,
                    "y": -7.895360469818115,
                    "z": -0.053552936762571335
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.6022338867188,
                        "y": 3325.755126953125,
                        "z": 369.27069091796875
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.054986000061035,
                "transform": {
                    "location": {
                        "x": 970.6883544921875,
                        "y": 3379.185791015625,
                        "z": 369.9675598144531
                    },
                    "rotation": {
                        "roll": -0.000823967915493995,
                        "pitch": -0.6294565200805664,
                        "yaw": -80.83291625976562
                    }
                },
                "velocity": {
                    "x": 1.2822128534317017,
                    "y": -7.951796054840088,
                    "z": -0.08761126548051834
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05261516571045,
                "transform": {
                    "location": {
                        "x": 967.510498046875,
                        "y": 3378.4794921875,
                        "z": 369.9753723144531
                    },
                    "rotation": {
                        "roll": 0.00028328323969617486,
                        "pitch": -0.6307679414749146,
                        "yaw": -80.86392974853516
                    }
                },
                "velocity": {
                    "x": 1.2784641981124878,
                    "y": -7.949991226196289,
                    "z": -0.0882185697555542
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.1580200195312,
                        "y": 3340.943359375,
                        "z": 369.507568359375
                    },
                    "rotation": {
                        "roll": -2.6683242282388164e-08,
                        "pitch": 0.8325248956680298,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.806390762329102,
                "transform": {
                    "location": {
                        "x": 948.6162109375,
                        "y": 3453.721435546875,
                        "z": 370.5488586425781
                    },
                    "rotation": {
                        "roll": 0.0006962331826798618,
                        "pitch": 0.26608365774154663,
                        "yaw": 99.16913604736328
                    }
                },
                "velocity": {
                    "x": -1.0845654010772705,
                    "y": 6.7193450927734375,
                    "z": 0.03286510333418846
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.307394981384277,
                "transform": {
                    "location": {
                        "x": 946.087890625,
                        "y": 3469.564208984375,
                        "z": 370.6289367675781
                    },
                    "rotation": {
                        "roll": -0.003723146626725793,
                        "pitch": 0.10788283497095108,
                        "yaw": 99.43128204345703
                    }
                },
                "velocity": {
                    "x": -1.3411461114883423,
                    "y": 8.198351860046387,
                    "z": 0.034146688878536224
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.9328002929688,
                        "y": 3310.342041015625,
                        "z": 369.0133972167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.235071182250977,
                "transform": {
                    "location": {
                        "x": 966.7928466796875,
                        "y": 3361.2265625,
                        "z": 369.7779235839844
                    },
                    "rotation": {
                        "roll": -0.0030822751577943563,
                        "pitch": 0.04072841629385948,
                        "yaw": 99.1387710571289
                    }
                },
                "velocity": {
                    "x": -1.3091235160827637,
                    "y": 8.129745483398438,
                    "z": 0.09912349283695221
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.923556327819824,
                "transform": {
                    "location": {
                        "x": 963.4826049804688,
                        "y": 3381.79833984375,
                        "z": 370.0182189941406
                    },
                    "rotation": {
                        "roll": -0.0007629921892657876,
                        "pitch": 0.5773831605911255,
                        "yaw": 99.13349914550781
                    }
                },
                "velocity": {
                    "x": -1.416239857673645,
                    "y": 8.809911727905273,
                    "z": 0.09782981872558594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.56899356842041,
                "transform": {
                    "location": {
                        "x": 960.5662841796875,
                        "y": 3399.9169921875,
                        "z": 370.1974792480469
                    },
                    "rotation": {
                        "roll": 0.00046055912389419973,
                        "pitch": 0.6352963447570801,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.6791890859603882,
                    "y": 10.434361457824707,
                    "z": 0.08967086672782898
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1656038761138916,
                "transform": {
                    "location": {
                        "x": 953.5651245117188,
                        "y": 3417.9677734375,
                        "z": 370.3216247558594
                    },
                    "rotation": {
                        "roll": 0.001617839327082038,
                        "pitch": 0.0815797746181488,
                        "yaw": 99.14179992675781
                    }
                },
                "velocity": {
                    "x": -0.5028458833694458,
                    "y": 3.125335693359375,
                    "z": 0.021689491346478462
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.16555118560791,
                "transform": {
                    "location": {
                        "x": 955.0587158203125,
                        "y": 3408.687744140625,
                        "z": 370.2594299316406
                    },
                    "rotation": {
                        "roll": -0.0009154885774478316,
                        "pitch": 0.6364233493804932,
                        "yaw": 99.14237213134766
                    }
                },
                "velocity": {
                    "x": -0.5024328231811523,
                    "y": 3.12534499168396,
                    "z": 0.02222173660993576
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0002167224884033,
        "expert_target_speed": 0,
        "target_point": [
            22.037819151744277,
            3.308900031461667
        ],
        "target_point_next": [
            73.02199276745553,
            4.5866448121753844
        ]
    },
    "215": {
        "acceleration": [
            -0.5065774917602539,
            -0.40241241455078125,
            -0.021499693393707275
        ],
        "angular_velocity": [
            -0.23256973922252655,
            -0.42147305607795715,
            1.135128140449524
        ],
        "forward_vector": [
            -0.14162760972976685,
            0.9898958206176758,
            0.006922904402017593
        ],
        "right_vector": [
            -0.9898987412452698,
            -0.1416669636964798,
            0.005565844010561705
        ],
        "location": [
            956.0237426757812,
            3426.402099609375,
            370.3879699707031
        ],
        "rotation": [
            -0.3189086616039276,
            0.3966563940048218,
            98.1422348022461
        ],
        "velocity": [
            -2.730670928955078,
            19.39800262451172,
            0.12875865399837494
        ],
        "speed": 19.58925903506317,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.2777709960938,
                        "y": 3503.5693359375,
                        "z": 370.9998779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.17403320968151093,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.0614013671875,
                        "y": 3500.512939453125,
                        "z": 370.8718566894531
                    },
                    "rotation": {
                        "roll": 2.6680568865344867e-08,
                        "pitch": -0.1865256279706955,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.469293594360352,
                "transform": {
                    "location": {
                        "x": 954.0107421875,
                        "y": 3462.177001953125,
                        "z": 370.5826416015625
                    },
                    "rotation": {
                        "roll": 7.049029227346182e-05,
                        "pitch": -0.23822332918643951,
                        "yaw": -80.4869613647461
                    }
                },
                "velocity": {
                    "x": 1.3888649940490723,
                    "y": -8.354554176330566,
                    "z": -0.0374833382666111
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.022942543029785,
                "transform": {
                    "location": {
                        "x": 957.6484985351562,
                        "y": 3460.03564453125,
                        "z": 370.58001708984375
                    },
                    "rotation": {
                        "roll": -0.0033874528016895056,
                        "pitch": -0.31982359290122986,
                        "yaw": -80.49217987060547
                    }
                },
                "velocity": {
                    "x": 1.140423059463501,
                    "y": -6.929662227630615,
                    "z": -0.030615663155913353
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.177972793579102,
                "transform": {
                    "location": {
                        "x": 964.251708984375,
                        "y": 3419.169189453125,
                        "z": 370.3307189941406
                    },
                    "rotation": {
                        "roll": 0.0037310344632714987,
                        "pitch": -0.3163743317127228,
                        "yaw": -80.82817840576172
                    }
                },
                "velocity": {
                    "x": 1.303294062614441,
                    "y": -8.073267936706543,
                    "z": -0.054747674614191055
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.11293888092041,
                "transform": {
                    "location": {
                        "x": 960.8038330078125,
                        "y": 3420.068115234375,
                        "z": 370.34405517578125
                    },
                    "rotation": {
                        "roll": -0.0015563841443508863,
                        "pitch": -0.383699506521225,
                        "yaw": -80.9801254272461
                    }
                },
                "velocity": {
                    "x": 1.2936122417449951,
                    "y": -8.008955955505371,
                    "z": -0.05439234524965286
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.083251953125,
                        "y": 3328.980224609375,
                        "z": 369.3228454589844
                    },
                    "rotation": {
                        "roll": 2.6683723675091642e-08,
                        "pitch": 0.9008882641792297,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.054864883422852,
                "transform": {
                    "location": {
                        "x": 971.0086669921875,
                        "y": 3377.19775390625,
                        "z": 369.9453125
                    },
                    "rotation": {
                        "roll": -0.0003356872475706041,
                        "pitch": -0.6383357644081116,
                        "yaw": -80.87139129638672
                    }
                },
                "velocity": {
                    "x": 1.2787115573883057,
                    "y": -7.952195644378662,
                    "z": -0.09123111516237259
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06234359741211,
                "transform": {
                    "location": {
                        "x": 967.8302612304688,
                        "y": 3376.490966796875,
                        "z": 369.9530334472656
                    },
                    "rotation": {
                        "roll": 0.00045485017471946776,
                        "pitch": -0.6468188762664795,
                        "yaw": -80.8641586303711
                    }
                },
                "velocity": {
                    "x": 1.2800096273422241,
                    "y": -7.9595561027526855,
                    "z": -0.09181133657693863
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.680419921875,
                        "y": 3343.91064453125,
                        "z": 369.5504455566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7983534336090088,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.442759990692139,
                "transform": {
                    "location": {
                        "x": 948.3583374023438,
                        "y": 3455.3193359375,
                        "z": 370.556640625
                    },
                    "rotation": {
                        "roll": -3.0522689485223964e-05,
                        "pitch": 0.24727332592010498,
                        "yaw": 99.16706085205078
                    }
                },
                "velocity": {
                    "x": -1.0257353782653809,
                    "y": 6.36051607131958,
                    "z": 0.02926792949438095
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.385917663574219,
                "transform": {
                    "location": {
                        "x": 945.7403564453125,
                        "y": 3471.68310546875,
                        "z": 370.6371154785156
                    },
                    "rotation": {
                        "roll": -0.0016174297779798508,
                        "pitch": 0.192221999168396,
                        "yaw": 99.3193130493164
                    }
                },
                "velocity": {
                    "x": -1.3529785871505737,
                    "y": 8.27597713470459,
                    "z": 0.035617828369140625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.4417724609375,
                        "y": 3313.857666015625,
                        "z": 369.07440185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9480370283126831,
                        "yaw": 98.44479370117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.24573802947998,
                "transform": {
                    "location": {
                        "x": 966.47021484375,
                        "y": 3363.23046875,
                        "z": 369.8010559082031
                    },
                    "rotation": {
                        "roll": 0.0005290727713145316,
                        "pitch": 0.4065806567668915,
                        "yaw": 99.16271209716797
                    }
                },
                "velocity": {
                    "x": -1.3109612464904785,
                    "y": 8.140242576599121,
                    "z": 0.10012628138065338
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.945230484008789,
                "transform": {
                    "location": {
                        "x": 963.1085815429688,
                        "y": 3384.125,
                        "z": 370.0442199707031
                    },
                    "rotation": {
                        "roll": -0.00021356804063543677,
                        "pitch": 0.7421205043792725,
                        "yaw": 99.14002990722656
                    }
                },
                "velocity": {
                    "x": -1.5793284177780151,
                    "y": 9.818446159362793,
                    "z": 0.10695154219865799
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.843588829040527,
                "transform": {
                    "location": {
                        "x": 960.1182861328125,
                        "y": 3402.701171875,
                        "z": 370.2215881347656
                    },
                    "rotation": {
                        "roll": 0.00048741171485744417,
                        "pitch": 0.7377082109451294,
                        "yaw": 99.14228057861328
                    }
                },
                "velocity": {
                    "x": -1.881765365600586,
                    "y": 11.692709922790527,
                    "z": 0.10040771216154099
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651294231414795,
                "transform": {
                    "location": {
                        "x": 953.439453125,
                        "y": 3418.7490234375,
                        "z": 370.3270263671875
                    },
                    "rotation": {
                        "roll": -0.0006713902694173157,
                        "pitch": 0.08440747112035751,
                        "yaw": 99.14265441894531
                    }
                },
                "velocity": {
                    "x": -0.5031032562255859,
                    "y": 3.124821424484253,
                    "z": 0.02054215408861637
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162153482437134,
                "transform": {
                    "location": {
                        "x": 954.93310546875,
                        "y": 3409.46826171875,
                        "z": 370.2652893066406
                    },
                    "rotation": {
                        "roll": 0.001678756787441671,
                        "pitch": 0.6394081115722656,
                        "yaw": 99.14326477050781
                    }
                },
                "velocity": {
                    "x": -0.5024126172065735,
                    "y": 3.12190842628479,
                    "z": 0.02202019654214382
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9997720122337341,
        "expert_target_speed": 10.0,
        "target_point": [
            17.154892690953876,
            3.1736707803737305
        ],
        "target_point_next": [
            68.14730450688727,
            4.0639113073589925
        ]
    },
    "220": {
        "acceleration": [
            -0.23878097534179688,
            -0.37212371826171875,
            -0.007888078689575195
        ],
        "angular_velocity": [
            0.0074440971948206425,
            -0.41458582878112793,
            0.6053826212882996
        ],
        "forward_vector": [
            -0.1453479379415512,
            0.989359974861145,
            0.006397799123078585
        ],
        "right_vector": [
            -0.9893695116043091,
            -0.14537391066551208,
            0.0038002438377588987
        ],
        "location": [
            955.3299560546875,
            3431.241455078125,
            370.41949462890625
        ],
        "rotation": [
            -0.2177429050207138,
            0.3665693998336792,
            98.35759735107422
        ],
        "velocity": [
            -2.817819833755493,
            19.320146560668945,
            0.12524496018886566
        ],
        "speed": 19.524553048437085,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.6082763671875,
                        "y": 3501.51611328125,
                        "z": 370.8713684082031
                    },
                    "rotation": {
                        "roll": 2.6680568865344867e-08,
                        "pitch": -0.1865256279706955,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.945948600769043,
                "transform": {
                    "location": {
                        "x": 951.3848266601562,
                        "y": 3498.505859375,
                        "z": 370.7697448730469
                    },
                    "rotation": {
                        "roll": -0.006561250891536474,
                        "pitch": -0.28448420763015747,
                        "yaw": -80.83558654785156
                    }
                },
                "velocity": {
                    "x": 1.1265350580215454,
                    "y": -6.853542327880859,
                    "z": -0.07797428965568542
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9680962562561035,
                "transform": {
                    "location": {
                        "x": 954.3479614257812,
                        "y": 3460.147705078125,
                        "z": 370.5736999511719
                    },
                    "rotation": {
                        "roll": -0.0008544762386009097,
                        "pitch": -0.2625456154346466,
                        "yaw": -80.60399627685547
                    }
                },
                "velocity": {
                    "x": 1.2986860275268555,
                    "y": -7.861464500427246,
                    "z": -0.0367557555437088
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.453083038330078,
                "transform": {
                    "location": {
                        "x": 957.953857421875,
                        "y": 3458.18212890625,
                        "z": 370.5721435546875
                    },
                    "rotation": {
                        "roll": -0.003021240234375,
                        "pitch": -0.38705313205718994,
                        "yaw": -80.63478088378906
                    }
                },
                "velocity": {
                    "x": 1.3688780069351196,
                    "y": -8.341425895690918,
                    "z": -0.037517961114645004
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.96806001663208,
                "transform": {
                    "location": {
                        "x": 964.5731201171875,
                        "y": 3417.177001953125,
                        "z": 370.31744384765625
                    },
                    "rotation": {
                        "roll": 0.002505651907995343,
                        "pitch": -0.417112797498703,
                        "yaw": -80.83625793457031
                    }
                },
                "velocity": {
                    "x": 1.2688385248184204,
                    "y": -7.866201400756836,
                    "z": -0.053914859890937805
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.005716323852539,
                "transform": {
                    "location": {
                        "x": 961.1237182617188,
                        "y": 3418.07958984375,
                        "z": 370.33038330078125
                    },
                    "rotation": {
                        "roll": 0.001873637200333178,
                        "pitch": -0.394258975982666,
                        "yaw": -81.02140808105469
                    }
                },
                "velocity": {
                    "x": 1.2708163261413574,
                    "y": -7.904027938842773,
                    "z": -0.05349985137581825
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.6069946289062,
                        "y": 3331.93994140625,
                        "z": 369.3701171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8667168021202087,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.055211067199707,
                "transform": {
                    "location": {
                        "x": 971.3282470703125,
                        "y": 3375.209716796875,
                        "z": 369.9225158691406
                    },
                    "rotation": {
                        "roll": -0.001953139202669263,
                        "pitch": -0.6663737297058105,
                        "yaw": -80.8443374633789
                    }
                },
                "velocity": {
                    "x": 1.2793413400650024,
                    "y": -7.952428817749023,
                    "z": -0.09267327189445496
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051986694335938,
                "transform": {
                    "location": {
                        "x": 968.1502685546875,
                        "y": 3374.50244140625,
                        "z": 369.93017578125
                    },
                    "rotation": {
                        "roll": 0.00023531069746240973,
                        "pitch": -0.6688462495803833,
                        "yaw": -80.85685729980469
                    }
                },
                "velocity": {
                    "x": 1.2794034481048584,
                    "y": -7.949143886566162,
                    "z": -0.09345340728759766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.1724243164062,
                        "y": 3347.0673828125,
                        "z": 369.5953674316406
                    },
                    "rotation": {
                        "roll": -2.6682798193178314e-08,
                        "pitch": 0.764168381690979,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.517612934112549,
                "transform": {
                    "location": {
                        "x": 948.0826416015625,
                        "y": 3457.028564453125,
                        "z": 370.5640869140625
                    },
                    "rotation": {
                        "roll": 0.00034559553023427725,
                        "pitch": 0.2747921645641327,
                        "yaw": 99.16422271728516
                    }
                },
                "velocity": {
                    "x": -1.1970518827438354,
                    "y": 7.421618461608887,
                    "z": 0.03392753377556801
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.878787517547607,
                "transform": {
                    "location": {
                        "x": 945.4140625,
                        "y": 3473.677978515625,
                        "z": 370.6448059082031
                    },
                    "rotation": {
                        "roll": -0.0003662066301330924,
                        "pitch": 0.28230535984039307,
                        "yaw": 99.2895278930664
                    }
                },
                "velocity": {
                    "x": -1.2693966627120972,
                    "y": 7.77578592300415,
                    "z": 0.032939501106739044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.0425415039062,
                        "y": 3316.6083984375,
                        "z": 369.1211242675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9480370283126831,
                        "yaw": 98.44479370117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.933794021606445,
                "transform": {
                    "location": {
                        "x": 966.12890625,
                        "y": 3365.350341796875,
                        "z": 369.8254089355469
                    },
                    "rotation": {
                        "roll": 0.0011290787952020764,
                        "pitch": 0.74949711561203,
                        "yaw": 99.12311553955078
                    }
                },
                "velocity": {
                    "x": -1.4190175533294678,
                    "y": 8.819731712341309,
                    "z": 0.10671394318342209
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.970674514770508,
                "transform": {
                    "location": {
                        "x": 962.6893310546875,
                        "y": 3386.72900390625,
                        "z": 370.07171630859375
                    },
                    "rotation": {
                        "roll": -3.049810584343504e-05,
                        "pitch": 0.7160769701004028,
                        "yaw": 99.1521987915039
                    }
                },
                "velocity": {
                    "x": -1.7443821430206299,
                    "y": 10.830501556396484,
                    "z": 0.11424437910318375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.866861343383789,
                "transform": {
                    "location": {
                        "x": 959.6265258789062,
                        "y": 3405.7568359375,
                        "z": 370.24658203125
                    },
                    "rotation": {
                        "roll": 0.0006878132116980851,
                        "pitch": 0.656859278678894,
                        "yaw": 99.14192199707031
                    }
                },
                "velocity": {
                    "x": -2.044257402420044,
                    "y": 12.703025817871094,
                    "z": 0.10137111693620682
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.16487717628479,
                "transform": {
                    "location": {
                        "x": 953.313720703125,
                        "y": 3419.5302734375,
                        "z": 370.3323669433594
                    },
                    "rotation": {
                        "roll": 0.00025147327687591314,
                        "pitch": 0.08474215120077133,
                        "yaw": 99.14240264892578
                    }
                },
                "velocity": {
                    "x": -0.5031071305274963,
                    "y": 3.1245577335357666,
                    "z": 0.021658726036548615
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162067413330078,
                "transform": {
                    "location": {
                        "x": 954.8074951171875,
                        "y": 3410.248779296875,
                        "z": 370.2710876464844
                    },
                    "rotation": {
                        "roll": 0.00016131994198076427,
                        "pitch": 0.6410883665084839,
                        "yaw": 99.14326477050781
                    }
                },
                "velocity": {
                    "x": -0.5023756623268127,
                    "y": 3.121826648712158,
                    "z": 0.02206125296652317
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0012788772583008,
        "expert_target_speed": 10.0,
        "target_point": [
            12.277893196682978,
            3.126165063318792
        ],
        "target_point_next": [
            63.273290424881544,
            3.8247726354702802
        ]
    },
    "225": {
        "acceleration": [
            -0.43651580810546875,
            -1.8820953369140625,
            -0.03132730722427368
        ],
        "angular_velocity": [
            -0.7179334759712219,
            0.012719892896711826,
            2.7194485664367676
        ],
        "forward_vector": [
            -0.15196631848812103,
            0.9883736968040466,
            0.004858712665736675
        ],
        "right_vector": [
            -0.9883759021759033,
            -0.1519847959280014,
            0.003688425524160266
        ],
        "location": [
            954.6165161132812,
            3436.036376953125,
            370.4504089355469
        ],
        "rotation": [
            -0.2113341987133026,
            0.27838483452796936,
            98.74099731445312
        ],
        "velocity": [
            -2.9096641540527344,
            18.987773895263672,
            0.11678678542375565
        ],
        "speed": 19.20941703922938,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.8042802810668945,
                "transform": {
                    "location": {
                        "x": 947.9055786132812,
                        "y": 3499.7080078125,
                        "z": 370.74725341796875
                    },
                    "rotation": {
                        "roll": -0.050415053963661194,
                        "pitch": -0.49792760610580444,
                        "yaw": -80.63118743896484
                    }
                },
                "velocity": {
                    "x": 1.1526583433151245,
                    "y": -6.696550369262695,
                    "z": -0.35471048951148987
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.642347812652588,
                "transform": {
                    "location": {
                        "x": 951.6649780273438,
                        "y": 3496.842529296875,
                        "z": 370.7603759765625
                    },
                    "rotation": {
                        "roll": -0.014923077076673508,
                        "pitch": -0.2612888813018799,
                        "yaw": -80.4610824584961
                    }
                },
                "velocity": {
                    "x": 1.1305809020996094,
                    "y": -6.545377254486084,
                    "z": -0.024601992219686508
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.018370628356934,
                "transform": {
                    "location": {
                        "x": 954.6693725585938,
                        "y": 3458.1943359375,
                        "z": 370.56475830078125
                    },
                    "rotation": {
                        "roll": -0.0007324250764213502,
                        "pitch": -0.2581811249256134,
                        "yaw": -80.68557739257812
                    }
                },
                "velocity": {
                    "x": 1.2922985553741455,
                    "y": -7.913461208343506,
                    "z": -0.03697004169225693
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.338309288024902,
                "transform": {
                    "location": {
                        "x": 958.301513671875,
                        "y": 3456.062744140625,
                        "z": 370.56170654296875
                    },
                    "rotation": {
                        "roll": -0.0014953634236007929,
                        "pitch": -0.2886369526386261,
                        "yaw": -80.68132019042969
                    }
                },
                "velocity": {
                    "x": 1.3469226360321045,
                    "y": -8.228702545166016,
                    "z": -0.04071023315191269
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019996643066406,
                "transform": {
                    "location": {
                        "x": 964.8899536132812,
                        "y": 3415.2119140625,
                        "z": 370.30364990234375
                    },
                    "rotation": {
                        "roll": 0.0015167006058618426,
                        "pitch": -0.4077759385108948,
                        "yaw": -80.84040832519531
                    }
                },
                "velocity": {
                    "x": 1.2766205072402954,
                    "y": -7.917531967163086,
                    "z": -0.05729014426469803
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.091154098510742,
                "transform": {
                    "location": {
                        "x": 961.4434814453125,
                        "y": 3416.09326171875,
                        "z": 370.3168029785156
                    },
                    "rotation": {
                        "roll": 0.00041607741150073707,
                        "pitch": -0.3875380754470825,
                        "yaw": -80.99950408935547
                    }
                },
                "velocity": {
                    "x": 1.287299633026123,
                    "y": -7.987912654876709,
                    "z": -0.053698956966400146
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.1294555664062,
                        "y": 3334.9072265625,
                        "z": 369.4164733886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8667168021202087,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05577564239502,
                "transform": {
                    "location": {
                        "x": 971.6484375,
                        "y": 3373.221435546875,
                        "z": 369.8991394042969
                    },
                    "rotation": {
                        "roll": -0.0002136979455826804,
                        "pitch": -0.6656838655471802,
                        "yaw": -80.87608337402344
                    }
                },
                "velocity": {
                    "x": 1.278290867805481,
                    "y": -7.953186511993408,
                    "z": -0.09118257462978363
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.062825202941895,
                "transform": {
                    "location": {
                        "x": 968.4705200195312,
                        "y": 3372.513671875,
                        "z": 369.9068603515625
                    },
                    "rotation": {
                        "roll": 0.0005463720299303532,
                        "pitch": -0.6662917733192444,
                        "yaw": -80.85343933105469
                    }
                },
                "velocity": {
                    "x": 1.2817307710647583,
                    "y": -7.959766864776611,
                    "z": -0.09177331626415253
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.7257690429688,
                        "y": 3349.842529296875,
                        "z": 369.6336364746094
                    },
                    "rotation": {
                        "roll": -2.6682798193178314e-08,
                        "pitch": 0.764168381690979,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.23056411743164,
                "transform": {
                    "location": {
                        "x": 947.7665405273438,
                        "y": 3458.9892578125,
                        "z": 370.572998046875
                    },
                    "rotation": {
                        "roll": 2.1664751329808496e-05,
                        "pitch": 0.27275675535202026,
                        "yaw": 99.15154266357422
                    }
                },
                "velocity": {
                    "x": -1.3083686828613281,
                    "y": 8.125818252563477,
                    "z": 0.03776087611913681
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.992854118347168,
                "transform": {
                    "location": {
                        "x": 945.0978393554688,
                        "y": 3475.6240234375,
                        "z": 370.6534423828125
                    },
                    "rotation": {
                        "roll": -0.0006713916664011776,
                        "pitch": 0.23142728209495544,
                        "yaw": 99.2341079711914
                    }
                },
                "velocity": {
                    "x": -1.2784359455108643,
                    "y": 7.889883041381836,
                    "z": 0.032599810510873795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.5452880859375,
                        "y": 3319.837158203125,
                        "z": 369.17431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.43519401550293,
                "transform": {
                    "location": {
                        "x": 965.7387084960938,
                        "y": 3367.77734375,
                        "z": 369.8529968261719
                    },
                    "rotation": {
                        "roll": 0.00020083565323147923,
                        "pitch": 1.1258678436279297,
                        "yaw": 99.13142395019531
                    }
                },
                "velocity": {
                    "x": -1.6578353643417358,
                    "y": 10.30196762084961,
                    "z": 0.11967042833566666
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.04233455657959,
                "transform": {
                    "location": {
                        "x": 962.2364501953125,
                        "y": 3389.5400390625,
                        "z": 370.099609375
                    },
                    "rotation": {
                        "roll": -0.00024414624203927815,
                        "pitch": 0.7400031685829163,
                        "yaw": 99.15872192382812
                    }
                },
                "velocity": {
                    "x": -1.9161360263824463,
                    "y": 11.888348579406738,
                    "z": 0.11588676273822784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.852391242980957,
                "transform": {
                    "location": {
                        "x": 959.0950317382812,
                        "y": 3409.05908203125,
                        "z": 370.2713623046875
                    },
                    "rotation": {
                        "roll": 2.6682062781446803e-08,
                        "pitch": 0.6349480152130127,
                        "yaw": 99.14420318603516
                    }
                },
                "velocity": {
                    "x": -2.202531576156616,
                    "y": 13.675800323486328,
                    "z": 0.1004268079996109
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650314331054688,
                "transform": {
                    "location": {
                        "x": 953.1880493164062,
                        "y": 3420.3115234375,
                        "z": 370.3377380371094
                    },
                    "rotation": {
                        "roll": 0.002717090304940939,
                        "pitch": 0.07946241647005081,
                        "yaw": 99.14286804199219
                    }
                },
                "velocity": {
                    "x": -0.5030087232589722,
                    "y": 3.1247262954711914,
                    "z": 0.022208021953701973
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162428617477417,
                "transform": {
                    "location": {
                        "x": 954.6818237304688,
                        "y": 3411.029052734375,
                        "z": 370.2769470214844
                    },
                    "rotation": {
                        "roll": 0.004499988630414009,
                        "pitch": 0.6405897736549377,
                        "yaw": 99.14352416992188
                    }
                },
                "velocity": {
                    "x": -0.5030587911605835,
                    "y": 3.1220836639404297,
                    "z": 0.021920843049883842
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9986906051635742,
        "expert_target_speed": 10.0,
        "target_point": [
            7.45088586732675,
            3.0674576168935115
        ],
        "target_point_next": [
            58.44981609234262,
            3.4248186466552344
        ]
    },
    "230": {
        "acceleration": [
            0.2789020538330078,
            -1.1825942993164062,
            -0.003535151481628418
        ],
        "angular_velocity": [
            0.05828220024704933,
            -0.5050328969955444,
            -1.2897064685821533
        ],
        "forward_vector": [
            -0.15470421314239502,
            0.9879544973373413,
            0.003534786170348525
        ],
        "right_vector": [
            -0.9879576563835144,
            -0.15471184253692627,
            0.00199416046962142
        ],
        "location": [
            953.8920288085938,
            3440.73046875,
            370.4782409667969
        ],
        "rotation": [
            -0.11425778269767761,
            0.20252875983715057,
            98.89969635009766
        ],
        "velocity": [
            -2.8789708614349365,
            18.61602210998535,
            0.10695163160562515
        ],
        "speed": 18.837323387903464,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.0525078773498535,
                "transform": {
                    "location": {
                        "x": 948.1978149414062,
                        "y": 3497.997314453125,
                        "z": 370.7153015136719
                    },
                    "rotation": {
                        "roll": -0.007080069277435541,
                        "pitch": -0.2332441210746765,
                        "yaw": -80.29570007324219
                    }
                },
                "velocity": {
                    "x": 1.1893470287322998,
                    "y": -6.951420307159424,
                    "z": 0.0327911451458931
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.849877834320068,
                "transform": {
                    "location": {
                        "x": 951.9513549804688,
                        "y": 3495.17919921875,
                        "z": 370.7539367675781
                    },
                    "rotation": {
                        "roll": -0.00677491445094347,
                        "pitch": -0.21450208127498627,
                        "yaw": -80.2331314086914
                    }
                },
                "velocity": {
                    "x": 1.1742697954177856,
                    "y": -6.748428821563721,
                    "z": -0.025001997128129005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.153972625732422,
                "transform": {
                    "location": {
                        "x": 954.9970092773438,
                        "y": 3456.185791015625,
                        "z": 370.5555419921875
                    },
                    "rotation": {
                        "roll": -0.0010070891585201025,
                        "pitch": -0.2534478008747101,
                        "yaw": -80.75355529785156
                    }
                },
                "velocity": {
                    "x": 1.3082354068756104,
                    "y": -8.04825496673584,
                    "z": -0.03721807524561882
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.876709938049316,
                "transform": {
                    "location": {
                        "x": 958.626220703125,
                        "y": 3454.07470703125,
                        "z": 370.55133056640625
                    },
                    "rotation": {
                        "roll": -0.0030517480336129665,
                        "pitch": -0.24353037774562836,
                        "yaw": -80.72791290283203
                    }
                },
                "velocity": {
                    "x": 1.2621028423309326,
                    "y": -7.774830341339111,
                    "z": -0.04086899012327194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.078753471374512,
                "transform": {
                    "location": {
                        "x": 965.2113647460938,
                        "y": 3413.21826171875,
                        "z": 370.2891845703125
                    },
                    "rotation": {
                        "roll": 0.000918657286092639,
                        "pitch": -0.41085633635520935,
                        "yaw": -80.84037017822266
                    }
                },
                "velocity": {
                    "x": 1.2858985662460327,
                    "y": -7.975549697875977,
                    "z": -0.057589318603277206
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02349853515625,
                "transform": {
                    "location": {
                        "x": 961.7637329101562,
                        "y": 3414.104248046875,
                        "z": 370.30267333984375
                    },
                    "rotation": {
                        "roll": 0.0016885410295799375,
                        "pitch": -0.41231802105903625,
                        "yaw": -81.02059936523438
                    }
                },
                "velocity": {
                    "x": 1.2730695009231567,
                    "y": -7.921658992767334,
                    "z": -0.056001126766204834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.6959838867188,
                        "y": 3337.6005859375,
                        "z": 369.457763671875
                    },
                    "rotation": {
                        "roll": -2.6683242282388164e-08,
                        "pitch": 0.8325248956680298,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.970703125,
                        "y": 3371.21923828125,
                        "z": 369.8756408691406
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.784423828125,
                        "y": 3370.509521484375,
                        "z": 369.8834228515625
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.2730102539062,
                        "y": 3352.656494140625,
                        "z": 369.6712341308594
                    },
                    "rotation": {
                        "roll": -2.6682590359428104e-08,
                        "pitch": 0.729996919631958,
                        "yaw": 99.14250183105469
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.120823860168457,
                "transform": {
                    "location": {
                        "x": 947.4375610351562,
                        "y": 3461.0322265625,
                        "z": 370.5823669433594
                    },
                    "rotation": {
                        "roll": 0.0004760502779390663,
                        "pitch": 0.25710880756378174,
                        "yaw": 99.14938354492188
                    }
                },
                "velocity": {
                    "x": -1.2912577390670776,
                    "y": 8.017424583435059,
                    "z": 0.03659088909626007
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.120908737182617,
                "transform": {
                    "location": {
                        "x": 944.7737426757812,
                        "y": 3477.623046875,
                        "z": 370.6617431640625
                    },
                    "rotation": {
                        "roll": 0.0011530433548614383,
                        "pitch": 0.22402335703372955,
                        "yaw": 99.20987701416016
                    }
                },
                "velocity": {
                    "x": -1.2996752262115479,
                    "y": 8.016166687011719,
                    "z": 0.03279164060950279
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.138427734375,
                        "y": 3322.415771484375,
                        "z": 369.2164611816406
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.3419189453125,
                        "y": 3370.71484375,
                        "z": 369.8917236328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.0442533493042,
                "transform": {
                    "location": {
                        "x": 961.73583984375,
                        "y": 3392.645263671875,
                        "z": 370.13006591796875
                    },
                    "rotation": {
                        "roll": -0.0005798661732114851,
                        "pitch": 0.730830192565918,
                        "yaw": 99.16161346435547
                    }
                },
                "velocity": {
                    "x": -2.07645583152771,
                    "y": 12.87728214263916,
                    "z": 0.1283145248889923
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.474051475524902,
                "transform": {
                    "location": {
                        "x": 958.5374755859375,
                        "y": 3412.520751953125,
                        "z": 370.29693603515625
                    },
                    "rotation": {
                        "roll": 0.0005950590712018311,
                        "pitch": 0.596295952796936,
                        "yaw": 99.14913177490234
                    }
                },
                "velocity": {
                    "x": -2.2996978759765625,
                    "y": 14.289794921875,
                    "z": 0.10642818361520767
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165034055709839,
                "transform": {
                    "location": {
                        "x": 953.062255859375,
                        "y": 3421.0927734375,
                        "z": 370.3430480957031
                    },
                    "rotation": {
                        "roll": 0.006209531798958778,
                        "pitch": 0.08094456791877747,
                        "yaw": 99.14253234863281
                    }
                },
                "velocity": {
                    "x": -0.503115713596344,
                    "y": 3.1247198581695557,
                    "z": 0.02100512385368347
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1623611450195312,
                "transform": {
                    "location": {
                        "x": 954.5562133789062,
                        "y": 3411.809326171875,
                        "z": 370.28277587890625
                    },
                    "rotation": {
                        "roll": 0.001149224815890193,
                        "pitch": 0.6422085165977478,
                        "yaw": 99.14232635498047
                    }
                },
                "velocity": {
                    "x": -0.5021286010742188,
                    "y": 3.122164487838745,
                    "z": 0.021997861564159393
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9994549751281738,
        "expert_target_speed": 10.0,
        "target_point": [
            53.70941990437274,
            3.2733104923913228
        ],
        "target_point_next": [
            104.70890325371269,
            3.4894194466867408
        ]
    },
    "235": {
        "acceleration": [
            0.5516767501831055,
            -0.23509979248046875,
            -0.027533024549484253
        ],
        "angular_velocity": [
            0.09907755255699158,
            -0.5840914845466614,
            -2.0185043811798096
        ],
        "forward_vector": [
            -0.14677506685256958,
            0.9891619682312012,
            0.003950466401875019
        ],
        "right_vector": [
            -0.9891698360443115,
            -0.14677397906780243,
            -0.0005644050543196499
        ],
        "location": [
            953.1859130859375,
            3445.361083984375,
            370.5045166015625
        ],
        "rotation": [
            0.03233828395605087,
            0.22634562849998474,
            98.44014739990234
        ],
        "velocity": [
            -2.7611236572265625,
            18.47393226623535,
            0.10128127783536911
        ],
        "speed": 18.679132132621895,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.39394474029541,
                "transform": {
                    "location": {
                        "x": 948.4866333007812,
                        "y": 3496.30419921875,
                        "z": 370.7283935546875
                    },
                    "rotation": {
                        "roll": 0.007255231495946646,
                        "pitch": -0.19800034165382385,
                        "yaw": -80.29613494873047
                    }
                },
                "velocity": {
                    "x": 1.0733091831207275,
                    "y": -6.303122520446777,
                    "z": 0.0343686006963253
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.519760608673096,
                "transform": {
                    "location": {
                        "x": 952.2120361328125,
                        "y": 3493.6513671875,
                        "z": 370.7492980957031
                    },
                    "rotation": {
                        "roll": 0.004147054627537727,
                        "pitch": -0.31552058458328247,
                        "yaw": -80.30974578857422
                    }
                },
                "velocity": {
                    "x": 0.9143043160438538,
                    "y": -5.4434709548950195,
                    "z": -0.02068992517888546
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.015267372131348,
                "transform": {
                    "location": {
                        "x": 955.3206787109375,
                        "y": 3454.1943359375,
                        "z": 370.5460205078125
                    },
                    "rotation": {
                        "roll": -0.0004577617219183594,
                        "pitch": -0.28524917364120483,
                        "yaw": -80.77983093261719
                    }
                },
                "velocity": {
                    "x": 1.2819395065307617,
                    "y": -7.911988735198975,
                    "z": -0.03972156345844269
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.015989303588867,
                "transform": {
                    "location": {
                        "x": 958.9431762695312,
                        "y": 3452.123291015625,
                        "z": 370.54156494140625
                    },
                    "rotation": {
                        "roll": -0.0008544925949536264,
                        "pitch": -0.30324673652648926,
                        "yaw": -80.77059936523438
                    }
                },
                "velocity": {
                    "x": 1.2830626964569092,
                    "y": -7.912530899047852,
                    "z": -0.04110357537865639
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.987396240234375,
                "transform": {
                    "location": {
                        "x": 965.5304565429688,
                        "y": 3411.239013671875,
                        "z": 370.27459716796875
                    },
                    "rotation": {
                        "roll": 0.0016210050089284778,
                        "pitch": -0.4460727870464325,
                        "yaw": -80.84437561035156
                    }
                },
                "velocity": {
                    "x": 1.2709028720855713,
                    "y": -7.885411739349365,
                    "z": -0.05991046875715256
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.082961082458496,
                "transform": {
                    "location": {
                        "x": 962.0833129882812,
                        "y": 3412.11669921875,
                        "z": 370.2882385253906
                    },
                    "rotation": {
                        "roll": 0.0005782475345768034,
                        "pitch": -0.4263608753681183,
                        "yaw": -81.00969696044922
                    }
                },
                "velocity": {
                    "x": 1.2845056056976318,
                    "y": -7.980015277862549,
                    "z": -0.06054525077342987
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.1782836914062,
                        "y": 3340.818115234375,
                        "z": 369.50592041015625
                    },
                    "rotation": {
                        "roll": -2.6683242282388164e-08,
                        "pitch": 0.8325248956680298,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4060,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.257568359375,
                        "y": 3369.155517578125,
                        "z": 369.85650634765625
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4059,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.0732421875,
                        "y": 3368.44580078125,
                        "z": 369.8598327636719
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.7478637695312,
                        "y": 3355.919921875,
                        "z": 369.7142028808594
                    },
                    "rotation": {
                        "roll": -2.6682590359428104e-08,
                        "pitch": 0.729996919631958,
                        "yaw": 99.14250183105469
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.773068904876709,
                "transform": {
                    "location": {
                        "x": 947.1221923828125,
                        "y": 3462.990478515625,
                        "z": 370.59124755859375
                    },
                    "rotation": {
                        "roll": 0.00026192411314696074,
                        "pitch": 0.24410411715507507,
                        "yaw": 99.14830017089844
                    }
                },
                "velocity": {
                    "x": -1.2358803749084473,
                    "y": 7.674120903015137,
                    "z": 0.03265789896249771
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.95803689956665,
                "transform": {
                    "location": {
                        "x": 944.4531860351562,
                        "y": 3479.603759765625,
                        "z": 370.6697082519531
                    },
                    "rotation": {
                        "roll": -0.0014648475917056203,
                        "pitch": 0.2336949110031128,
                        "yaw": 99.19261169433594
                    }
                },
                "velocity": {
                    "x": -1.26816725730896,
                    "y": 7.856272220611572,
                    "z": 0.03299568220973015
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.6294555664062,
                        "y": 3325.5859375,
                        "z": 369.26800537109375
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.8265380859375,
                        "y": 3374.025146484375,
                        "z": 369.9314880371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.937897682189941,
                "transform": {
                    "location": {
                        "x": 961.1985473632812,
                        "y": 3395.979248046875,
                        "z": 370.161865234375
                    },
                    "rotation": {
                        "roll": 0.0005424218252301216,
                        "pitch": 0.6555956602096558,
                        "yaw": 99.15367889404297
                    }
                },
                "velocity": {
                    "x": -2.2171428203582764,
                    "y": 13.759828567504883,
                    "z": 0.12801381945610046
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.37000846862793,
                "transform": {
                    "location": {
                        "x": 957.943359375,
                        "y": 3416.211181640625,
                        "z": 370.3233642578125
                    },
                    "rotation": {
                        "roll": 0.0005431875470094383,
                        "pitch": 0.5760854482650757,
                        "yaw": 99.14421844482422
                    }
                },
                "velocity": {
                    "x": -2.442725419998169,
                    "y": 15.174287796020508,
                    "z": 0.10601404309272766
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165116548538208,
                "transform": {
                    "location": {
                        "x": 952.9365234375,
                        "y": 3421.8740234375,
                        "z": 370.348388671875
                    },
                    "rotation": {
                        "roll": -0.0029602060094475746,
                        "pitch": 0.0822969451546669,
                        "yaw": 99.14242553710938
                    }
                },
                "velocity": {
                    "x": -0.5026968121528625,
                    "y": 3.124864101409912,
                    "z": 0.022012805566191673
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1623611450195312,
                "transform": {
                    "location": {
                        "x": 954.4306640625,
                        "y": 3412.589599609375,
                        "z": 370.28857421875
                    },
                    "rotation": {
                        "roll": 0.001770355855114758,
                        "pitch": 0.6379874348640442,
                        "yaw": 99.1417236328125
                    }
                },
                "velocity": {
                    "x": -0.5023875832557678,
                    "y": 3.1221253871917725,
                    "z": 0.021625900641083717
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9989730715751648,
        "expert_target_speed": 0,
        "target_point": [
            48.99733230538864,
            3.6851922305600793
        ],
        "target_point_next": [
            99.99344178593378,
            4.310350472913981
        ]
    },
    "240": {
        "acceleration": [
            0.44242382049560547,
            -1.4371490478515625,
            -0.015037953853607178
        ],
        "angular_velocity": [
            -0.21329346299171448,
            -0.0727401152253151,
            -0.2927470803260803
        ],
        "forward_vector": [
            -0.1420462280511856,
            0.989853024482727,
            0.0037202746607363224
        ],
        "right_vector": [
            -0.9898595809936523,
            -0.1420416533946991,
            -0.0014698943123221397
        ],
        "location": [
            952.509765625,
            3449.96044921875,
            370.5286560058594
        ],
        "rotation": [
            0.08421935141086578,
            0.2131565362215042,
            98.16632843017578
        ],
        "velocity": [
            -2.650498628616333,
            18.26361656188965,
            0.09289094805717468
        ],
        "speed": 18.454940609496063,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.461666107177734,
                "transform": {
                    "location": {
                        "x": 948.7305297851562,
                        "y": 3494.873046875,
                        "z": 370.7298278808594
                    },
                    "rotation": {
                        "roll": -0.0014037820510566235,
                        "pitch": -0.4577934145927429,
                        "yaw": -80.32369995117188
                    }
                },
                "velocity": {
                    "x": 0.9156681895256042,
                    "y": -5.38429594039917,
                    "z": -0.026579340919852257
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.476277828216553,
                "transform": {
                    "location": {
                        "x": 952.4327392578125,
                        "y": 3492.322021484375,
                        "z": 370.7437744140625
                    },
                    "rotation": {
                        "roll": -0.00021361879771575332,
                        "pitch": -0.24743041396141052,
                        "yaw": -80.07378387451172
                    }
                },
                "velocity": {
                    "x": 0.9061059951782227,
                    "y": -5.400755882263184,
                    "z": -0.020632561296224594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.070252418518066,
                "transform": {
                    "location": {
                        "x": 955.6414794921875,
                        "y": 3452.212646484375,
                        "z": 370.5359191894531
                    },
                    "rotation": {
                        "roll": 0.000446382793597877,
                        "pitch": -0.2961091697216034,
                        "yaw": -80.81388854980469
                    }
                },
                "velocity": {
                    "x": 1.2870815992355347,
                    "y": -7.9668498039245605,
                    "z": -0.04113931953907013
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.120062828063965,
                "transform": {
                    "location": {
                        "x": 959.2678833007812,
                        "y": 3450.122314453125,
                        "z": 370.53118896484375
                    },
                    "rotation": {
                        "roll": -0.00024412927450612187,
                        "pitch": -0.3010542392730713,
                        "yaw": -80.78131866455078
                    }
                },
                "velocity": {
                    "x": 1.3008332252502441,
                    "y": -8.015084266662598,
                    "z": -0.04086395725607872
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.056127548217773,
                "transform": {
                    "location": {
                        "x": 965.849365234375,
                        "y": 3409.25927734375,
                        "z": 370.2596435546875
                    },
                    "rotation": {
                        "roll": 0.00037242876715026796,
                        "pitch": -0.42105382680892944,
                        "yaw": -80.84850311279297
                    }
                },
                "velocity": {
                    "x": 1.2811994552612305,
                    "y": -7.953368186950684,
                    "z": -0.06040332838892937
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.024558067321777,
                "transform": {
                    "location": {
                        "x": 962.403564453125,
                        "y": 3410.12939453125,
                        "z": 370.2732849121094
                    },
                    "rotation": {
                        "roll": -0.0006714047049172223,
                        "pitch": -0.42511093616485596,
                        "yaw": -81.00407409667969
                    }
                },
                "velocity": {
                    "x": 1.2780797481536865,
                    "y": -7.921899795532227,
                    "z": -0.05956500023603439
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.6245727539062,
                        "y": 3344.258056640625,
                        "z": 369.55560302734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7983534336090088,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.187255859375,
                        "y": 3359.40283203125,
                        "z": 369.7581481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6958186626434326,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.691068649291992,
                "transform": {
                    "location": {
                        "x": 946.8159790039062,
                        "y": 3464.892822265625,
                        "z": 370.5994873046875
                    },
                    "rotation": {
                        "roll": -0.0013122609816491604,
                        "pitch": 0.23390664160251617,
                        "yaw": 99.1410903930664
                    }
                },
                "velocity": {
                    "x": -1.2207852602005005,
                    "y": 7.593491554260254,
                    "z": 0.03317480906844139
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066710472106934,
                "transform": {
                    "location": {
                        "x": 944.1340942382812,
                        "y": 3481.580322265625,
                        "z": 370.6777648925781
                    },
                    "rotation": {
                        "roll": -0.0003356956585776061,
                        "pitch": 0.2226778119802475,
                        "yaw": 99.17362213134766
                    }
                },
                "velocity": {
                    "x": -1.2843281030654907,
                    "y": 7.963743686676025,
                    "z": 0.033113088458776474
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.082763671875,
                        "y": 3328.982421875,
                        "z": 369.3228759765625
                    },
                    "rotation": {
                        "roll": 2.6683723675091642e-08,
                        "pitch": 0.9008882641792297,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.266357421875,
                        "y": 3377.552001953125,
                        "z": 369.97271728515625
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.809001922607422,
                "transform": {
                    "location": {
                        "x": 960.6266479492188,
                        "y": 3399.531494140625,
                        "z": 370.1928405761719
                    },
                    "rotation": {
                        "roll": 0.0018183024367317557,
                        "pitch": 0.6344699263572693,
                        "yaw": 99.14253234863281
                    }
                },
                "velocity": {
                    "x": -2.351813554763794,
                    "y": 14.62053394317627,
                    "z": 0.12449586391448975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.069671630859375,
                "transform": {
                    "location": {
                        "x": 957.3167724609375,
                        "y": 3420.103759765625,
                        "z": 370.34991455078125
                    },
                    "rotation": {
                        "roll": 0.00034616776974871755,
                        "pitch": 0.5499190092086792,
                        "yaw": 99.14374542236328
                    }
                },
                "velocity": {
                    "x": -2.553657054901123,
                    "y": 15.865104675292969,
                    "z": 0.10780658572912216
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651389598846436,
                "transform": {
                    "location": {
                        "x": 952.8108520507812,
                        "y": 3422.6552734375,
                        "z": 370.3537292480469
                    },
                    "rotation": {
                        "roll": 0.0011877203360199928,
                        "pitch": 0.08302777260541916,
                        "yaw": 99.14322662353516
                    }
                },
                "velocity": {
                    "x": -0.5032002925872803,
                    "y": 3.1248085498809814,
                    "z": 0.02157263644039631
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1623902320861816,
                "transform": {
                    "location": {
                        "x": 954.3050537109375,
                        "y": 3413.369873046875,
                        "z": 370.2942199707031
                    },
                    "rotation": {
                        "roll": -0.003204348962754011,
                        "pitch": 0.6241495013237,
                        "yaw": 99.14137268066406
                    }
                },
                "velocity": {
                    "x": -0.5021536946296692,
                    "y": 3.1221961975097656,
                    "z": 0.021086234599351883
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9993762969970703,
        "expert_target_speed": 0,
        "target_point": [
            44.33039079128237,
            3.903326143511679
        ],
        "target_point_next": [
            95.32293063410204,
            4.772167531901468
        ]
    },
    "245": {
        "acceleration": [
            0.09893417358398438,
            -2.01568603515625,
            -0.04917517304420471
        ],
        "angular_velocity": [
            -0.5083765983581543,
            0.28873205184936523,
            0.8200459480285645
        ],
        "forward_vector": [
            -0.14279583096504211,
            0.9897493124008179,
            0.002373692812398076
        ],
        "right_vector": [
            -0.9897521734237671,
            -0.14279469847679138,
            -0.0006386815221048892
        ],
        "location": [
            951.8579711914062,
            3454.4697265625,
            370.5516662597656
        ],
        "rotation": [
            0.03659386187791824,
            0.13600271940231323,
            98.20968627929688
        ],
        "velocity": [
            -2.5808398723602295,
            17.810144424438477,
            0.08653463423252106
        ],
        "speed": 17.996165671223448,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.2297973632812,
                        "y": 3530.534912109375,
                        "z": 371.0406494140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.14107754826545715,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.4859137535095215,
                "transform": {
                    "location": {
                        "x": 948.951904296875,
                        "y": 3493.56298828125,
                        "z": 370.7208557128906
                    },
                    "rotation": {
                        "roll": 0.00913703627884388,
                        "pitch": -0.281704306602478,
                        "yaw": -80.39332580566406
                    }
                },
                "velocity": {
                    "x": 0.9023907780647278,
                    "y": -5.411109924316406,
                    "z": -0.028775563463568687
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.541851997375488,
                "transform": {
                    "location": {
                        "x": 952.6731567382812,
                        "y": 3490.903564453125,
                        "z": 370.7375793457031
                    },
                    "rotation": {
                        "roll": 0.0005428682779893279,
                        "pitch": -0.14175373315811157,
                        "yaw": -80.32674407958984
                    }
                },
                "velocity": {
                    "x": 1.0822179317474365,
                    "y": -6.451675891876221,
                    "z": -0.022613605484366417
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.098212242126465,
                "transform": {
                    "location": {
                        "x": 955.96435546875,
                        "y": 3450.21337890625,
                        "z": 370.52545166015625
                    },
                    "rotation": {
                        "roll": 0.0005417665815912187,
                        "pitch": -0.294743150472641,
                        "yaw": -80.83006286621094
                    }
                },
                "velocity": {
                    "x": 1.2907098531723022,
                    "y": -7.994584560394287,
                    "z": -0.041547954082489014
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.96541690826416,
                "transform": {
                    "location": {
                        "x": 959.5882568359375,
                        "y": 3448.14111328125,
                        "z": 370.5207824707031
                    },
                    "rotation": {
                        "roll": -0.0003662200761027634,
                        "pitch": -0.28595268726348877,
                        "yaw": -80.80998229980469
                    }
                },
                "velocity": {
                    "x": 1.2696340084075928,
                    "y": -7.863475322723389,
                    "z": -0.04070013388991356
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024724006652832,
                "transform": {
                    "location": {
                        "x": 966.1690673828125,
                        "y": 3407.27294921875,
                        "z": 370.2447814941406
                    },
                    "rotation": {
                        "roll": 0.0011359772179275751,
                        "pitch": -0.4267570376396179,
                        "yaw": -80.8575668334961
                    }
                },
                "velocity": {
                    "x": 1.2748665809631348,
                    "y": -7.922584056854248,
                    "z": -0.05975673720240593
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.085909843444824,
                "transform": {
                    "location": {
                        "x": 962.7235107421875,
                        "y": 3408.140625,
                        "z": 370.2583923339844
                    },
                    "rotation": {
                        "roll": 0.001990387449041009,
                        "pitch": -0.4238336980342865,
                        "yaw": -81.0083999633789
                    }
                },
                "velocity": {
                    "x": 1.2841781377792358,
                    "y": -7.983053207397461,
                    "z": -0.060760241001844406
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.0365600585938,
                        "y": 3347.912353515625,
                        "z": 369.6070556640625
                    },
                    "rotation": {
                        "roll": -2.6682798193178314e-08,
                        "pitch": 0.764168381690979,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.5923461914062,
                        "y": 3363.099365234375,
                        "z": 369.8031921386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.743209362030029,
                "transform": {
                    "location": {
                        "x": 946.5098266601562,
                        "y": 3466.796142578125,
                        "z": 370.6074523925781
                    },
                    "rotation": {
                        "roll": -0.0013427840312942863,
                        "pitch": 0.2385033667087555,
                        "yaw": 99.13500213623047
                    }
                },
                "velocity": {
                    "x": -1.229250192642212,
                    "y": 7.644943714141846,
                    "z": 0.03272577375173569
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.007267951965332,
                "transform": {
                    "location": {
                        "x": 943.813720703125,
                        "y": 3483.565185546875,
                        "z": 370.68572998046875
                    },
                    "rotation": {
                        "roll": -0.0013732921797782183,
                        "pitch": 0.22548502683639526,
                        "yaw": 99.16645050048828
                    }
                },
                "velocity": {
                    "x": -1.2737460136413574,
                    "y": 7.90524435043335,
                    "z": 0.03198033198714256
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.501708984375,
                        "y": 3332.593994140625,
                        "z": 369.3803405761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8667168021202087,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.6649169921875,
                        "y": 3381.2890625,
                        "z": 370.01470947265625
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.566702842712402,
                "transform": {
                    "location": {
                        "x": 960.0217895507812,
                        "y": 3403.291748046875,
                        "z": 370.22515869140625
                    },
                    "rotation": {
                        "roll": -6.1021713918307796e-05,
                        "pitch": 0.6209324598312378,
                        "yaw": 99.13813781738281
                    }
                },
                "velocity": {
                    "x": -2.472883939743042,
                    "y": 15.368480682373047,
                    "z": 0.12999467551708221
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.17331886291504,
                "transform": {
                    "location": {
                        "x": 956.6748046875,
                        "y": 3424.092041015625,
                        "z": 370.3771057128906
                    },
                    "rotation": {
                        "roll": -0.0005493268836289644,
                        "pitch": 0.4502665400505066,
                        "yaw": 99.14361572265625
                    }
                },
                "velocity": {
                    "x": -2.5700619220733643,
                    "y": 15.967446327209473,
                    "z": 0.10816356539726257
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165055751800537,
                "transform": {
                    "location": {
                        "x": 952.6851196289062,
                        "y": 3423.4365234375,
                        "z": 370.3591003417969
                    },
                    "rotation": {
                        "roll": -6.103486521169543e-05,
                        "pitch": 0.0822627916932106,
                        "yaw": 99.14222717285156
                    }
                },
                "velocity": {
                    "x": -0.5028642416000366,
                    "y": 3.1247780323028564,
                    "z": 0.021629314869642258
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1624701023101807,
                "transform": {
                    "location": {
                        "x": 954.179443359375,
                        "y": 3414.14990234375,
                        "z": 370.2997131347656
                    },
                    "rotation": {
                        "roll": 2.1372201445046812e-05,
                        "pitch": 0.6024090051651001,
                        "yaw": 99.14153289794922
                    }
                },
                "velocity": {
                    "x": -0.5026950836181641,
                    "y": 3.1221859455108643,
                    "z": 0.021680936217308044
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9991623163223267,
        "expert_target_speed": 0,
        "target_point": [
            39.777190432930986,
            3.868582120767413
        ],
        "target_point_next": [
            90.7703729646676,
            4.698847298118686
        ]
    },
    "250": {
        "acceleration": [
            -0.10283946990966797,
            -1.956787109375,
            -0.027784407138824463
        ],
        "angular_velocity": [
            -0.11327748000621796,
            0.28687456250190735,
            1.5084583759307861
        ],
        "forward_vector": [
            -0.14844079315662384,
            0.9889206290245056,
            0.0011314150178804994
        ],
        "right_vector": [
            -0.9889206290245056,
            -0.14844191074371338,
            0.0009752486366778612
        ],
        "location": [
            951.2135009765625,
            3458.85498046875,
            370.5721740722656
        ],
        "rotation": [
            -0.0558776780962944,
            0.06482531875371933,
            98.53658294677734
        ],
        "velocity": [
            -2.586667776107788,
            17.30428123474121,
            0.0767851397395134
        ],
        "speed": 17.496542493732047,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.6788940429688,
                        "y": 3532.1455078125,
                        "z": 371.1057434082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.14107754826545715,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.55810546875,
                        "y": 3528.494873046875,
                        "z": 370.8590393066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.15530483424663544,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.462499618530273,
                "transform": {
                    "location": {
                        "x": 949.2203979492188,
                        "y": 3491.954345703125,
                        "z": 370.70989990234375
                    },
                    "rotation": {
                        "roll": 0.010236700996756554,
                        "pitch": 0.2292211353778839,
                        "yaw": -80.5871353149414
                    }
                },
                "velocity": {
                    "x": 1.2157959938049316,
                    "y": -7.362748622894287,
                    "z": -0.025906719267368317
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.514391899108887,
                "transform": {
                    "location": {
                        "x": 952.9953002929688,
                        "y": 3488.978759765625,
                        "z": 370.7294921875
                    },
                    "rotation": {
                        "roll": 0.007530414033681154,
                        "pitch": -0.018584944307804108,
                        "yaw": -80.51988983154297
                    }
                },
                "velocity": {
                    "x": 1.381394624710083,
                    "y": -8.401531219482422,
                    "z": -0.030064506456255913
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.029679298400879,
                "transform": {
                    "location": {
                        "x": 956.2852172851562,
                        "y": 3448.225830078125,
                        "z": 370.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0002136196562787518,
                        "pitch": -0.29550811648368835,
                        "yaw": -80.83149719238281
                    }
                },
                "velocity": {
                    "x": 1.2794809341430664,
                    "y": -7.926979064941406,
                    "z": -0.04099147394299507
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.075295448303223,
                "transform": {
                    "location": {
                        "x": 959.9078979492188,
                        "y": 3446.162353515625,
                        "z": 370.5103759765625
                    },
                    "rotation": {
                        "roll": -0.00012206467363284901,
                        "pitch": -0.3054187297821045,
                        "yaw": -80.82655334472656
                    }
                },
                "velocity": {
                    "x": 1.2872709035873413,
                    "y": -7.971909523010254,
                    "z": -0.044721391052007675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03103256225586,
                "transform": {
                    "location": {
                        "x": 966.4876098632812,
                        "y": 3405.29296875,
                        "z": 370.2292175292969
                    },
                    "rotation": {
                        "roll": 0.0004300493164919317,
                        "pitch": -0.46618086099624634,
                        "yaw": -80.85838317871094
                    }
                },
                "velocity": {
                    "x": 1.2759032249450684,
                    "y": -7.928765773773193,
                    "z": -0.06502331793308258
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0215482711792,
                "transform": {
                    "location": {
                        "x": 963.0432739257812,
                        "y": 3406.1533203125,
                        "z": 370.2434997558594
                    },
                    "rotation": {
                        "roll": 0.0006923896726220846,
                        "pitch": -0.42742639780044556,
                        "yaw": -81.01875305175781
                    }
                },
                "velocity": {
                    "x": 1.2752104997634888,
                    "y": -7.919294834136963,
                    "z": -0.062038354575634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.419677734375,
                        "y": 3351.744873046875,
                        "z": 369.65924072265625
                    },
                    "rotation": {
                        "roll": -2.6682590359428104e-08,
                        "pitch": 0.729996919631958,
                        "yaw": 99.14250183105469
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.9727783203125,
                        "y": 3366.94921875,
                        "z": 369.8490295410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.804664134979248,
                "transform": {
                    "location": {
                        "x": 946.2008666992188,
                        "y": 3468.718017578125,
                        "z": 370.61553955078125
                    },
                    "rotation": {
                        "roll": 0.00028975194436497986,
                        "pitch": 0.2398010939359665,
                        "yaw": 99.13406372070312
                    }
                },
                "velocity": {
                    "x": -1.238985300064087,
                    "y": 7.705620765686035,
                    "z": 0.03334172070026398
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05115032196045,
                "transform": {
                    "location": {
                        "x": 943.4942016601562,
                        "y": 3485.546142578125,
                        "z": 370.6936950683594
                    },
                    "rotation": {
                        "roll": 4.435654045664705e-05,
                        "pitch": 0.22323788702487946,
                        "yaw": 99.16426086425781
                    }
                },
                "velocity": {
                    "x": -1.2822468280792236,
                    "y": 7.948331832885742,
                    "z": 0.02980928309261799
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.8890380859375,
                        "y": 3336.40087890625,
                        "z": 369.43963623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8667168021202087,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.043701171875,
                        "y": 3385.149658203125,
                        "z": 370.056640625
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.62343978881836,
                "transform": {
                    "location": {
                        "x": 959.4005737304688,
                        "y": 3407.153564453125,
                        "z": 370.2557678222656
                    },
                    "rotation": {
                        "roll": -0.0003967239463236183,
                        "pitch": 0.45894771814346313,
                        "yaw": 99.13513946533203
                    }
                },
                "velocity": {
                    "x": -2.4795634746551514,
                    "y": 15.424994468688965,
                    "z": 0.11484147608280182
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.084436416625977,
                "transform": {
                    "location": {
                        "x": 956.034423828125,
                        "y": 3428.0712890625,
                        "z": 370.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0011674000415951014,
                        "pitch": 0.37252533435821533,
                        "yaw": 99.1409683227539
                    }
                },
                "velocity": {
                    "x": -2.554222822189331,
                    "y": 15.87999439239502,
                    "z": 0.10403821617364883
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165037155151367,
                "transform": {
                    "location": {
                        "x": 952.559326171875,
                        "y": 3424.2177734375,
                        "z": 370.36444091796875
                    },
                    "rotation": {
                        "roll": -0.0017700179014354944,
                        "pitch": 0.0827409103512764,
                        "yaw": 99.14268493652344
                    }
                },
                "velocity": {
                    "x": -0.5030311942100525,
                    "y": 3.1247365474700928,
                    "z": 0.021004008129239082
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162611484527588,
                "transform": {
                    "location": {
                        "x": 954.0538940429688,
                        "y": 3414.93017578125,
                        "z": 370.3050231933594
                    },
                    "rotation": {
                        "roll": 0.0012679509818553925,
                        "pitch": 0.6043829321861267,
                        "yaw": 99.14104461669922
                    }
                },
                "velocity": {
                    "x": -0.5023764371871948,
                    "y": 3.1223855018615723,
                    "z": 0.02092851512134075
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0003100633621216,
        "expert_target_speed": 0,
        "target_point": [
            35.366278782840645,
            3.6551892488120536
        ],
        "target_point_next": [
            86.36336843668288,
            4.194496042490082
        ]
    },
    "255": {
        "acceleration": [
            -0.24449825286865234,
            -1.4229202270507812,
            -0.02929195761680603
        ],
        "angular_velocity": [
            0.057170320302248,
            0.18837812542915344,
            1.5371747016906738
        ],
        "forward_vector": [
            -0.15506531298160553,
            0.9879032969474792,
            0.0013188120210543275
        ],
        "right_vector": [
            -0.987901508808136,
            -0.15506786108016968,
            0.002127861836925149
        ],
        "location": [
            950.5618286132812,
            3463.124267578125,
            370.5910949707031
        ],
        "rotation": [
            -0.1219177097082138,
            0.07556238025426865,
            98.92059326171875
        ],
        "velocity": [
            -2.6355795860290527,
            16.888652801513672,
            0.07492107152938843
        ],
        "speed": 17.09306506172514,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.543522357940674,
                "transform": {
                    "location": {
                        "x": 943.006591796875,
                        "y": 3530.10888671875,
                        "z": 370.8724670410156
                    },
                    "rotation": {
                        "roll": 0.0011774995364248753,
                        "pitch": -0.11169407516717911,
                        "yaw": -80.85282897949219
                    }
                },
                "velocity": {
                    "x": 1.1901111602783203,
                    "y": -7.328972816467285,
                    "z": -1.332112193107605
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.943233013153076,
                "transform": {
                    "location": {
                        "x": 946.8474731445312,
                        "y": 3526.7529296875,
                        "z": 370.8160705566406
                    },
                    "rotation": {
                        "roll": -0.012176519259810448,
                        "pitch": -0.19841697812080383,
                        "yaw": -80.54042053222656
                    }
                },
                "velocity": {
                    "x": 1.1804890632629395,
                    "y": -6.841222763061523,
                    "z": -0.11224178969860077
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.689231872558594,
                "transform": {
                    "location": {
                        "x": 949.541015625,
                        "y": 3490.014404296875,
                        "z": 370.7039794921875
                    },
                    "rotation": {
                        "roll": 0.002128597581759095,
                        "pitch": 0.1438574343919754,
                        "yaw": -80.64984893798828
                    }
                },
                "velocity": {
                    "x": 1.4124807119369507,
                    "y": -8.573607444763184,
                    "z": -0.0300825834274292
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.99385404586792,
                "transform": {
                    "location": {
                        "x": 953.3317260742188,
                        "y": 3486.93359375,
                        "z": 370.7232666015625
                    },
                    "rotation": {
                        "roll": 0.0038735379930585623,
                        "pitch": -0.2137439250946045,
                        "yaw": -80.6349105834961
                    }
                },
                "velocity": {
                    "x": 1.2921230792999268,
                    "y": -7.888669967651367,
                    "z": -0.03167581558227539
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.099713325500488,
                "transform": {
                    "location": {
                        "x": 956.6063842773438,
                        "y": 3446.23486328125,
                        "z": 370.5047302246094
                    },
                    "rotation": {
                        "roll": -0.00021360634127631783,
                        "pitch": -0.2962048053741455,
                        "yaw": -80.83806610107422
                    }
                },
                "velocity": {
                    "x": 1.288654088973999,
                    "y": -7.996425151824951,
                    "z": -0.04372526705265045
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.013198852539062,
                "transform": {
                    "location": {
                        "x": 960.228515625,
                        "y": 3444.17578125,
                        "z": 370.4991760253906
                    },
                    "rotation": {
                        "roll": 0.0004354317788966,
                        "pitch": -0.33019864559173584,
                        "yaw": -80.83384704589844
                    }
                },
                "velocity": {
                    "x": 1.2762802839279175,
                    "y": -7.910784721374512,
                    "z": -0.04404991865158081
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032354354858398,
                "transform": {
                    "location": {
                        "x": 966.806640625,
                        "y": 3403.310546875,
                        "z": 370.212890625
                    },
                    "rotation": {
                        "roll": -0.0015563819324597716,
                        "pitch": -0.5004274249076843,
                        "yaw": -80.85835266113281
                    }
                },
                "velocity": {
                    "x": 1.2760366201400757,
                    "y": -7.930056571960449,
                    "z": -0.06820925325155258
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.088457107543945,
                "transform": {
                    "location": {
                        "x": 963.3634033203125,
                        "y": 3404.165283203125,
                        "z": 370.22747802734375
                    },
                    "rotation": {
                        "roll": 0.002967179985716939,
                        "pitch": -0.478024423122406,
                        "yaw": -81.00428771972656
                    }
                },
                "velocity": {
                    "x": 1.2843128442764282,
                    "y": -7.985579013824463,
                    "z": -0.06486405432224274
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.799560546875,
                        "y": 3355.5986328125,
                        "z": 369.7101745605469
                    },
                    "rotation": {
                        "roll": -2.6682590359428104e-08,
                        "pitch": 0.729996919631958,
                        "yaw": 99.14250183105469
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.3539428710938,
                        "y": 3370.7939453125,
                        "z": 369.8941345214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.733665466308594,
                "transform": {
                    "location": {
                        "x": 945.8926391601562,
                        "y": 3470.635009765625,
                        "z": 370.62353515625
                    },
                    "rotation": {
                        "roll": 0.0003698605578392744,
                        "pitch": 0.23622891306877136,
                        "yaw": 99.13407135009766
                    }
                },
                "velocity": {
                    "x": -1.2276685237884521,
                    "y": 7.635529518127441,
                    "z": 0.03306115046143532
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002431869506836,
                "transform": {
                    "location": {
                        "x": 943.1749267578125,
                        "y": 3487.52685546875,
                        "z": 370.701171875
                    },
                    "rotation": {
                        "roll": -0.00012206374231027439,
                        "pitch": 0.20605996251106262,
                        "yaw": 99.15773010253906
                    }
                },
                "velocity": {
                    "x": -1.2735623121261597,
                    "y": 7.90038537979126,
                    "z": 0.029316740110516548
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.2677612304688,
                        "y": 3340.261474609375,
                        "z": 369.49755859375
                    },
                    "rotation": {
                        "roll": -2.6683242282388164e-08,
                        "pitch": 0.8325248956680298,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.4266357421875,
                        "y": 3388.984375,
                        "z": 370.0958251953125
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.430676460266113,
                "transform": {
                    "location": {
                        "x": 958.78466796875,
                        "y": 3410.982666015625,
                        "z": 370.2838439941406
                    },
                    "rotation": {
                        "roll": -9.155624138657004e-05,
                        "pitch": 0.411723792552948,
                        "yaw": 99.13894653320312
                    }
                },
                "velocity": {
                    "x": -2.450798273086548,
                    "y": 15.23439884185791,
                    "z": 0.11161357909440994
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.058862686157227,
                "transform": {
                    "location": {
                        "x": 955.3965454101562,
                        "y": 3432.036376953125,
                        "z": 370.4293212890625
                    },
                    "rotation": {
                        "roll": 0.0022338118869811296,
                        "pitch": 0.36986154317855835,
                        "yaw": 99.13721466064453
                    }
                },
                "velocity": {
                    "x": -2.5502898693084717,
                    "y": 15.854727745056152,
                    "z": 0.10333272814750671
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650538444519043,
                "transform": {
                    "location": {
                        "x": 952.4336547851562,
                        "y": 3424.9990234375,
                        "z": 370.3697204589844
                    },
                    "rotation": {
                        "roll": -3.051909516216256e-05,
                        "pitch": 0.0709724947810173,
                        "yaw": 99.14253997802734
                    }
                },
                "velocity": {
                    "x": -0.5026050209999084,
                    "y": 3.1248159408569336,
                    "z": 0.021877221763134003
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1624886989593506,
                "transform": {
                    "location": {
                        "x": 953.9282836914062,
                        "y": 3415.71044921875,
                        "z": 370.3103942871094
                    },
                    "rotation": {
                        "roll": 0.00017572710930835456,
                        "pitch": 0.6061655879020691,
                        "yaw": 99.1417007446289
                    }
                },
                "velocity": {
                    "x": -0.5026370882987976,
                    "y": 3.122210741043091,
                    "z": 0.022187137976288795
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9997468590736389,
        "expert_target_speed": 0,
        "target_point": [
            31.07128351473463,
            3.436307319145249
        ],
        "target_point_next": [
            82.07084230327231,
            3.6338126462117586
        ]
    },
    "260": {
        "acceleration": [
            -0.40251731872558594,
            -0.38379669189453125,
            -0.009386688470840454
        ],
        "angular_velocity": [
            0.31264132261276245,
            0.11748647689819336,
            1.510658621788025
        ],
        "forward_vector": [
            -0.16162773966789246,
            0.9868496656417847,
            0.0020402653608471155
        ],
        "right_vector": [
            -0.986847460269928,
            -0.16163285076618195,
            0.0026402485091239214
        ],
        "location": [
            949.89404296875,
            3467.313720703125,
            370.60888671875
        ],
        "rotation": [
            -0.15127559006214142,
            0.11689867824316025,
            99.30140686035156
        ],
        "velocity": [
            -2.719120502471924,
            16.677656173706055,
            0.07032530009746552
        ],
        "speed": 16.897864709936545,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.017366409301758,
                "transform": {
                    "location": {
                        "x": 943.3076171875,
                        "y": 3528.35498046875,
                        "z": 370.8000183105469
                    },
                    "rotation": {
                        "roll": 0.006535915192216635,
                        "pitch": -0.09131279587745667,
                        "yaw": -80.35081481933594
                    }
                },
                "velocity": {
                    "x": 1.1886236667633057,
                    "y": -6.915499210357666,
                    "z": 0.08044784516096115
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.865812301635742,
                "transform": {
                    "location": {
                        "x": 947.1401977539062,
                        "y": 3525.052490234375,
                        "z": 370.8000793457031
                    },
                    "rotation": {
                        "roll": -0.006927484646439552,
                        "pitch": -0.1570192128419876,
                        "yaw": -80.24034881591797
                    }
                },
                "velocity": {
                    "x": 1.1770602464675903,
                    "y": -6.764069080352783,
                    "z": -0.03572335094213486
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.447040557861328,
                "transform": {
                    "location": {
                        "x": 949.8936767578125,
                        "y": 3487.869384765625,
                        "z": 370.69866943359375
                    },
                    "rotation": {
                        "roll": 0.007349046412855387,
                        "pitch": -0.1644572913646698,
                        "yaw": -80.7412338256836
                    }
                },
                "velocity": {
                    "x": 1.3610308170318604,
                    "y": -8.336612701416016,
                    "z": -0.03132591024041176
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.881782054901123,
                "transform": {
                    "location": {
                        "x": 953.6485595703125,
                        "y": 3485.00048828125,
                        "z": 370.7157287597656
                    },
                    "rotation": {
                        "roll": 0.0010067546973004937,
                        "pitch": -0.24032019078731537,
                        "yaw": -80.72126770019531
                    }
                },
                "velocity": {
                    "x": 1.2700077295303345,
                    "y": -7.778731346130371,
                    "z": -0.030081314966082573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.047086715698242,
                "transform": {
                    "location": {
                        "x": 956.927490234375,
                        "y": 3444.24169921875,
                        "z": 370.49371337890625
                    },
                    "rotation": {
                        "roll": 0.0007151804165914655,
                        "pitch": -0.32620298862457275,
                        "yaw": -80.85139465332031
                    }
                },
                "velocity": {
                    "x": 1.2793718576431274,
                    "y": -7.944607257843018,
                    "z": -0.04492516443133354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.057947158813477,
                "transform": {
                    "location": {
                        "x": 960.5481567382812,
                        "y": 3442.193359375,
                        "z": 370.4875793457031
                    },
                    "rotation": {
                        "roll": 0.0017080293036997318,
                        "pitch": -0.3315100371837616,
                        "yaw": -80.83967590332031
                    }
                },
                "velocity": {
                    "x": 1.2827470302581787,
                    "y": -7.955058574676514,
                    "z": -0.046035755425691605
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036919593811035,
                "transform": {
                    "location": {
                        "x": 967.1256713867188,
                        "y": 3401.327392578125,
                        "z": 370.19549560546875
                    },
                    "rotation": {
                        "roll": -0.0010986352572217584,
                        "pitch": -0.5016705393791199,
                        "yaw": -80.86018371582031
                    }
                },
                "velocity": {
                    "x": 1.2754064798355103,
                    "y": -7.934777736663818,
                    "z": -0.06865786761045456
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02193832397461,
                "transform": {
                    "location": {
                        "x": 963.6829223632812,
                        "y": 3402.177734375,
                        "z": 370.2106628417969
                    },
                    "rotation": {
                        "roll": 0.0017072646878659725,
                        "pitch": -0.49725139141082764,
                        "yaw": -81.0269546508789
                    }
                },
                "velocity": {
                    "x": 1.2736873626708984,
                    "y": -7.919885635375977,
                    "z": -0.06807522475719452
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.1864013671875,
                        "y": 3359.40869140625,
                        "z": 369.7582702636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6958186626434326,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.7415161132812,
                        "y": 3374.599609375,
                        "z": 369.93865966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.772098541259766,
                "transform": {
                    "location": {
                        "x": 945.5849609375,
                        "y": 3472.548095703125,
                        "z": 370.6315612792969
                    },
                    "rotation": {
                        "roll": -0.0003356826491653919,
                        "pitch": 0.2377861887216568,
                        "yaw": 99.135986328125
                    }
                },
                "velocity": {
                    "x": -1.2341680526733398,
                    "y": 7.673411846160889,
                    "z": 0.03316445276141167
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059979438781738,
                "transform": {
                    "location": {
                        "x": 942.8552856445312,
                        "y": 3489.509521484375,
                        "z": 370.70843505859375
                    },
                    "rotation": {
                        "roll": -0.0003051659732591361,
                        "pitch": 0.20404505729675293,
                        "yaw": 99.15753936767578
                    }
                },
                "velocity": {
                    "x": -1.282711148262024,
                    "y": 7.957200527191162,
                    "z": 0.02981141023337841
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.653564453125,
                        "y": 3344.078125,
                        "z": 369.55291748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7983534336090088,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.8145141601562,
                        "y": 3392.787353515625,
                        "z": 370.13287353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.405633926391602,
                "transform": {
                    "location": {
                        "x": 958.1728515625,
                        "y": 3414.784912109375,
                        "z": 370.3115539550781
                    },
                    "rotation": {
                        "roll": -0.0006408924818970263,
                        "pitch": 0.3962124288082123,
                        "yaw": 99.13939666748047
                    }
                },
                "velocity": {
                    "x": -2.4470505714416504,
                    "y": 15.209657669067383,
                    "z": 0.10873506218194962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.068153381347656,
                "transform": {
                    "location": {
                        "x": 954.7589111328125,
                        "y": 3436.001220703125,
                        "z": 370.45452880859375
                    },
                    "rotation": {
                        "roll": 0.00020245483028702438,
                        "pitch": 0.3492822051048279,
                        "yaw": 99.13701629638672
                    }
                },
                "velocity": {
                    "x": -2.5514445304870605,
                    "y": 15.863985061645508,
                    "z": 0.09846092015504837
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650307178497314,
                "transform": {
                    "location": {
                        "x": 952.3079223632812,
                        "y": 3425.7802734375,
                        "z": 370.3748474121094
                    },
                    "rotation": {
                        "roll": 0.0006428018095903099,
                        "pitch": 0.06244158744812012,
                        "yaw": 99.14381408691406
                    }
                },
                "velocity": {
                    "x": -0.5032762885093689,
                    "y": 3.1246936321258545,
                    "z": 0.020560378208756447
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162574052810669,
                "transform": {
                    "location": {
                        "x": 953.8026123046875,
                        "y": 3416.490966796875,
                        "z": 370.31573486328125
                    },
                    "rotation": {
                        "roll": 0.000490733829792589,
                        "pitch": 0.606213390827179,
                        "yaw": 99.1415786743164
                    }
                },
                "velocity": {
                    "x": -0.5027792453765869,
                    "y": 3.1222779750823975,
                    "z": 0.0216226764023304
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.000608205795288,
        "expert_target_speed": 0,
        "target_point": [
            26.851133317802713,
            3.2478553735478446
        ],
        "target_point_next": [
            77.85087839130365,
            3.106407794402971
        ]
    },
    "265": {
        "acceleration": [
            -0.32939910888671875,
            0.14682769775390625,
            -0.010909736156463623
        ],
        "angular_velocity": [
            0.31015071272850037,
            -0.06533388793468475,
            1.054583191871643
        ],
        "forward_vector": [
            -0.16767780482769012,
            0.9858354926109314,
            0.0035575551446527243
        ],
        "right_vector": [
            -0.9858368039131165,
            -0.16768746078014374,
            0.002612008713185787
        ],
        "location": [
            949.2015380859375,
            3471.4814453125,
            370.6260070800781
        ],
        "rotation": [
            -0.149658203125,
            0.20383332669734955,
            99.65289306640625
        ],
        "velocity": [
            -2.820645570755005,
            16.67462158203125,
            0.06809443980455399
        ],
        "speed": 16.91150632970825,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.2388081550598145,
                "transform": {
                    "location": {
                        "x": 943.6071166992188,
                        "y": 3526.596435546875,
                        "z": 370.81475830078125
                    },
                    "rotation": {
                        "roll": -0.0037231508176773787,
                        "pitch": -0.13910362124443054,
                        "yaw": -80.33419036865234
                    }
                },
                "velocity": {
                    "x": 1.2122644186019897,
                    "y": -7.136561870574951,
                    "z": 0.01550145074725151
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.831044673919678,
                "transform": {
                    "location": {
                        "x": 947.417236328125,
                        "y": 3523.43896484375,
                        "z": 370.7940979003906
                    },
                    "rotation": {
                        "roll": 0.003560180775821209,
                        "pitch": -0.21485042572021484,
                        "yaw": -80.29161071777344
                    }
                },
                "velocity": {
                    "x": 0.9667010307312012,
                    "y": -5.750321388244629,
                    "z": -0.01929648406803608
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.97238302230835,
                "transform": {
                    "location": {
                        "x": 950.2221069335938,
                        "y": 3485.8544921875,
                        "z": 370.6927795410156
                    },
                    "rotation": {
                        "roll": 0.0044509232975542545,
                        "pitch": -0.39892399311065674,
                        "yaw": -80.7522964477539
                    }
                },
                "velocity": {
                    "x": 1.28066086769104,
                    "y": -7.868780136108398,
                    "z": -0.03309975564479828
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.18818187713623,
                "transform": {
                    "location": {
                        "x": 953.9733276367188,
                        "y": 3483.001708984375,
                        "z": 370.70745849609375
                    },
                    "rotation": {
                        "roll": 0.0014861159725114703,
                        "pitch": -0.2053496241569519,
                        "yaw": -80.75677490234375
                    }
                },
                "velocity": {
                    "x": 1.3116636276245117,
                    "y": -8.08237361907959,
                    "z": -0.03310999646782875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081963539123535,
                "transform": {
                    "location": {
                        "x": 957.247802734375,
                        "y": 3442.252197265625,
                        "z": 370.482177734375
                    },
                    "rotation": {
                        "roll": 0.00011316696327412501,
                        "pitch": -0.3350549042224884,
                        "yaw": -80.85697937011719
                    }
                },
                "velocity": {
                    "x": 1.284212589263916,
                    "y": -7.979146480560303,
                    "z": -0.046384990215301514
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.008225440979004,
                "transform": {
                    "location": {
                        "x": 960.8673706054688,
                        "y": 3440.2109375,
                        "z": 370.47589111328125
                    },
                    "rotation": {
                        "roll": 0.0015915007097646594,
                        "pitch": -0.33144858479499817,
                        "yaw": -80.85197448730469
                    }
                },
                "velocity": {
                    "x": 1.2730194330215454,
                    "y": -7.906268119812012,
                    "z": -0.04495806619524956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.4234008789062,
                        "y": 3399.296142578125,
                        "z": 370.1791687011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5231583118438721,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.0001831054688,
                        "y": 3400.16064453125,
                        "z": 370.1932373046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5231583118438721,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.5743408203125,
                        "y": 3363.211181640625,
                        "z": 369.8045654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.1293334960938,
                        "y": 3378.403564453125,
                        "z": 369.98248291015625
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.743104934692383,
                "transform": {
                    "location": {
                        "x": 945.2767944335938,
                        "y": 3474.463134765625,
                        "z": 370.6396484375
                    },
                    "rotation": {
                        "roll": 8.433756011072546e-05,
                        "pitch": 0.238803893327713,
                        "yaw": 99.14488983154297
                    }
                },
                "velocity": {
                    "x": -1.2306864261627197,
                    "y": 7.6446075439453125,
                    "z": 0.03256484121084213
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998150825500488,
                "transform": {
                    "location": {
                        "x": 942.535888671875,
                        "y": 3491.490478515625,
                        "z": 370.7156677246094
                    },
                    "rotation": {
                        "roll": 0.0007054483867250383,
                        "pitch": 0.20608045160770416,
                        "yaw": 99.15752410888672
                    }
                },
                "velocity": {
                    "x": -1.2729030847549438,
                    "y": 7.896154403686523,
                    "z": 0.029613018035888672
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.0416870117188,
                        "y": 3347.879638671875,
                        "z": 369.60650634765625
                    },
                    "rotation": {
                        "roll": -2.6682798193178314e-08,
                        "pitch": 0.764168381690979,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.2021484375,
                        "y": 3396.593017578125,
                        "z": 370.1685485839844
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.442193984985352,
                "transform": {
                    "location": {
                        "x": 957.560302734375,
                        "y": 3418.592041015625,
                        "z": 370.3377990722656
                    },
                    "rotation": {
                        "roll": -3.052312968065962e-05,
                        "pitch": 0.3939994275569916,
                        "yaw": 99.14227294921875
                    }
                },
                "velocity": {
                    "x": -2.4543676376342773,
                    "y": 15.245550155639648,
                    "z": 0.10304473340511322
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.07330322265625,
                "transform": {
                    "location": {
                        "x": 954.120361328125,
                        "y": 3439.9677734375,
                        "z": 370.4779968261719
                    },
                    "rotation": {
                        "roll": 0.00018191027629654855,
                        "pitch": 0.3362570106983185,
                        "yaw": 99.15000915527344
                    }
                },
                "velocity": {
                    "x": -2.5552866458892822,
                    "y": 15.868627548217773,
                    "z": 0.09073575586080551
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4042,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164951801300049,
                "transform": {
                    "location": {
                        "x": 952.1821899414062,
                        "y": 3426.5615234375,
                        "z": 370.3799133300781
                    },
                    "rotation": {
                        "roll": 0.0006179823540151119,
                        "pitch": 0.06280358880758286,
                        "yaw": 99.14295196533203
                    }
                },
                "velocity": {
                    "x": -0.5029146671295166,
                    "y": 3.1246719360351562,
                    "z": 0.02055256813764572
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4041,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.16256046295166,
                "transform": {
                    "location": {
                        "x": 953.6770629882812,
                        "y": 3417.271240234375,
                        "z": 370.3210754394531
                    },
                    "rotation": {
                        "roll": -0.0007934668101370335,
                        "pitch": 0.6057831048965454,
                        "yaw": 99.13964080810547
                    }
                },
                "velocity": {
                    "x": -0.502089262008667,
                    "y": 3.122375726699829,
                    "z": 0.021563252434134483
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9985519051551819,
        "expert_target_speed": 0,
        "target_point": [
            22.645718414992015,
            3.099204259367708
        ],
        "target_point_next": [
            73.64363595207077,
            2.6448785380554565
        ]
    },
    "270": {
        "acceleration": [
            -0.26812076568603516,
            0.335235595703125,
            0.0014725327491760254
        ],
        "angular_velocity": [
            0.1879587024450302,
            -0.09557224065065384,
            0.5742869973182678
        ],
        "forward_vector": [
            -0.17072980105876923,
            0.9853077530860901,
            0.004459604155272245
        ],
        "right_vector": [
            -0.985314130783081,
            -0.17073988914489746,
            0.001987762050703168
        ],
        "location": [
            948.487548828125,
            3475.658447265625,
            370.643310546875
        ],
        "rotation": [
            -0.1138915941119194,
            0.2555173635482788,
            99.83035278320312
        ],
        "velocity": [
            -2.8935182094573975,
            16.73935890197754,
            0.06870903074741364
        ],
        "speed": 16.987600892347224,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.790325164794922,
                "transform": {
                    "location": {
                        "x": 943.9043579101562,
                        "y": 3524.847412109375,
                        "z": 370.81304931640625
                    },
                    "rotation": {
                        "roll": -0.0017700239550322294,
                        "pitch": -0.12924082577228546,
                        "yaw": -80.35151672363281
                    }
                },
                "velocity": {
                    "x": 1.1364173889160156,
                    "y": -6.694536209106445,
                    "z": -0.015983037650585175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.792420387268066,
                "transform": {
                    "location": {
                        "x": 947.6535034179688,
                        "y": 3522.03564453125,
                        "z": 370.7896728515625
                    },
                    "rotation": {
                        "roll": -0.00012208356929477304,
                        "pitch": -0.18252313137054443,
                        "yaw": -80.43119812011719
                    }
                },
                "velocity": {
                    "x": 0.9558948278427124,
                    "y": -5.71297550201416,
                    "z": -0.017683448269963264
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.961877822875977,
                "transform": {
                    "location": {
                        "x": 950.539794921875,
                        "y": 3483.89990234375,
                        "z": 370.6837158203125
                    },
                    "rotation": {
                        "roll": 0.0026992091443389654,
                        "pitch": -0.27255186438560486,
                        "yaw": -80.79674530029297
                    }
                },
                "velocity": {
                    "x": 1.2731980085372925,
                    "y": -7.859349727630615,
                    "z": -0.03298696130514145
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.948230743408203,
                "transform": {
                    "location": {
                        "x": 954.29638671875,
                        "y": 3481.01171875,
                        "z": 370.69976806640625
                    },
                    "rotation": {
                        "roll": 0.0011353689478710294,
                        "pitch": -0.24173404276371002,
                        "yaw": -80.80443572998047
                    }
                },
                "velocity": {
                    "x": 1.2698390483856201,
                    "y": -7.84607458114624,
                    "z": -0.03150487318634987
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056255340576172,
                "transform": {
                    "location": {
                        "x": 957.568359375,
                        "y": 3440.26025390625,
                        "z": 370.4704284667969
                    },
                    "rotation": {
                        "roll": -0.0004272407968528569,
                        "pitch": -0.33187204599380493,
                        "yaw": -80.86003875732422
                    }
                },
                "velocity": {
                    "x": 1.2796313762664795,
                    "y": -7.953847885131836,
                    "z": -0.04575841501355171
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066686630249023,
                "transform": {
                    "location": {
                        "x": 961.1867065429688,
                        "y": 3438.2265625,
                        "z": 370.4642639160156
                    },
                    "rotation": {
                        "roll": 0.0008312159334309399,
                        "pitch": -0.33193352818489075,
                        "yaw": -80.85896301269531
                    }
                },
                "velocity": {
                    "x": 1.281395673751831,
                    "y": -7.9641337394714355,
                    "z": -0.045172132551670074
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.7071533203125,
                        "y": 3397.2314453125,
                        "z": 370.16351318359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5231583118438721,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.294921875,
                        "y": 3398.098388671875,
                        "z": 370.1759033203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5231583118438721,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.9610595703125,
                        "y": 3367.021728515625,
                        "z": 369.8499450683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.5159301757812,
                        "y": 3382.21533203125,
                        "z": 370.0248718261719
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.777622222900391,
                "transform": {
                    "location": {
                        "x": 944.968505859375,
                        "y": 3476.378662109375,
                        "z": 370.6476745605469
                    },
                    "rotation": {
                        "roll": -0.00018310933955945075,
                        "pitch": 0.238803893327713,
                        "yaw": 99.14237976074219
                    }
                },
                "velocity": {
                    "x": -1.2355902194976807,
                    "y": 7.678778648376465,
                    "z": 0.03283790498971939
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05949592590332,
                "transform": {
                    "location": {
                        "x": 942.2166748046875,
                        "y": 3493.47265625,
                        "z": 370.72283935546875
                    },
                    "rotation": {
                        "roll": 1.6181778846657835e-05,
                        "pitch": 0.2017023116350174,
                        "yaw": 99.15217590332031
                    }
                },
                "velocity": {
                    "x": -1.2819249629974365,
                    "y": 7.956844329833984,
                    "z": 0.02774134650826454
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.4286499023438,
                        "y": 3351.68896484375,
                        "z": 369.6584167480469
                    },
                    "rotation": {
                        "roll": -2.6682590359428104e-08,
                        "pitch": 0.729996919631958,
                        "yaw": 99.14250183105469
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.5885620117188,
                        "y": 3400.405517578125,
                        "z": 370.2022705078125
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.448692321777344,
                "transform": {
                    "location": {
                        "x": 956.946533203125,
                        "y": 3422.4052734375,
                        "z": 370.3638610839844
                    },
                    "rotation": {
                        "roll": -0.0007629581959918141,
                        "pitch": 0.3947370946407318,
                        "yaw": 99.14642333984375
                    }
                },
                "velocity": {
                    "x": -2.455479621887207,
                    "y": 15.25195026397705,
                    "z": 0.10359147936105728
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.072956085205078,
                "transform": {
                    "location": {
                        "x": 953.48193359375,
                        "y": 3443.934326171875,
                        "z": 370.5009765625
                    },
                    "rotation": {
                        "roll": 0.001770809874869883,
                        "pitch": 0.33342933654785156,
                        "yaw": 99.13636779785156
                    }
                },
                "velocity": {
                    "x": -2.5528934001922607,
                    "y": 15.868670463562012,
                    "z": 0.08913835138082504
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0009183883666992,
        "expert_target_speed": 0,
        "target_point": [
            18.417633524163424,
            3.03869859564723
        ],
        "target_point_next": [
            69.41389955685086,
            2.4264439892138245
        ]
    },
    "275": {
        "acceleration": [
            -0.24296283721923828,
            0.421905517578125,
            0.013589560985565186
        ],
        "angular_velocity": [
            0.011588769033551216,
            -0.10690546780824661,
            0.5425029397010803
        ],
        "forward_vector": [
            -0.17309893667697906,
            0.9848926067352295,
            0.0048278383910655975
        ],
        "right_vector": [
            -0.9849019050598145,
            -0.17310763895511627,
            0.001441284897737205
        ],
        "location": [
            947.756591796875,
            3479.856201171875,
            370.6606140136719
        ],
        "rotation": [
            -0.08258053660392761,
            0.27661582827568054,
            99.9681625366211
        ],
        "velocity": [
            -2.9563510417938232,
            16.83995246887207,
            0.06888065487146378
        ],
        "speed": 17.097485506242897,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.231076240539551,
                "transform": {
                    "location": {
                        "x": 944.1686401367188,
                        "y": 3523.282958984375,
                        "z": 370.8083801269531
                    },
                    "rotation": {
                        "roll": -0.00811767391860485,
                        "pitch": -0.09293154627084732,
                        "yaw": -80.40863800048828
                    }
                },
                "velocity": {
                    "x": 1.01870596408844,
                    "y": -6.147213459014893,
                    "z": -0.01763233169913292
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.885560035705566,
                "transform": {
                    "location": {
                        "x": 947.9035034179688,
                        "y": 3520.54052734375,
                        "z": 370.7848815917969
                    },
                    "rotation": {
                        "roll": -0.00018310811719857156,
                        "pitch": -0.11300547420978546,
                        "yaw": -80.43772888183594
                    }
                },
                "velocity": {
                    "x": 1.135032296180725,
                    "y": -6.791340351104736,
                    "z": -0.018219461664557457
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.170120239257812,
                "transform": {
                    "location": {
                        "x": 950.86328125,
                        "y": 3481.902099609375,
                        "z": 370.6747131347656
                    },
                    "rotation": {
                        "roll": 0.0016598757356405258,
                        "pitch": -0.15948490798473358,
                        "yaw": -80.79256439208984
                    }
                },
                "velocity": {
                    "x": 1.3042101860046387,
                    "y": -8.06528377532959,
                    "z": -0.0331064835190773
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03248405456543,
                "transform": {
                    "location": {
                        "x": 954.6141967773438,
                        "y": 3479.047119140625,
                        "z": 370.6915283203125
                    },
                    "rotation": {
                        "roll": 0.0016072686994448304,
                        "pitch": -0.23199419677257538,
                        "yaw": -80.79729461669922
                    }
                },
                "velocity": {
                    "x": 1.281098484992981,
                    "y": -7.929596424102783,
                    "z": -0.03300265595316887
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081400871276855,
                "transform": {
                    "location": {
                        "x": 957.8887329101562,
                        "y": 3438.2685546875,
                        "z": 370.4587097167969
                    },
                    "rotation": {
                        "roll": -0.00021362041297834367,
                        "pitch": -0.3319949805736542,
                        "yaw": -80.86045837402344
                    }
                },
                "velocity": {
                    "x": 1.2835919857025146,
                    "y": -7.9786834716796875,
                    "z": -0.045158371329307556
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00533676147461,
                "transform": {
                    "location": {
                        "x": 961.505859375,
                        "y": 3436.24365234375,
                        "z": 370.45233154296875
                    },
                    "rotation": {
                        "roll": -0.0010376069694757462,
                        "pitch": -0.3423768877983093,
                        "yaw": -80.85595703125
                    }
                },
                "velocity": {
                    "x": 1.2722963094711304,
                    "y": -7.9034295082092285,
                    "z": -0.04975733533501625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.3474731445312,
                        "y": 3370.834228515625,
                        "z": 369.89459228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.9024658203125,
                        "y": 3386.02734375,
                        "z": 370.0658874511719
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.740396499633789,
                "transform": {
                    "location": {
                        "x": 944.6604614257812,
                        "y": 3478.29345703125,
                        "z": 370.65557861328125
                    },
                    "rotation": {
                        "roll": -0.00012206394603708759,
                        "pitch": 0.2316458523273468,
                        "yaw": 99.1412582397461
                    }
                },
                "velocity": {
                    "x": -1.229702115058899,
                    "y": 7.642022132873535,
                    "z": 0.03265560045838356
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999632358551025,
                "transform": {
                    "location": {
                        "x": 941.8976440429688,
                        "y": 3495.454345703125,
                        "z": 370.7297058105469
                    },
                    "rotation": {
                        "roll": -0.0003967200464103371,
                        "pitch": 0.18766626715660095,
                        "yaw": 99.14559936523438
                    }
                },
                "velocity": {
                    "x": -1.2712609767913818,
                    "y": 7.8979339599609375,
                    "z": 0.025651855394244194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.8151245117188,
                        "y": 3355.50146484375,
                        "z": 369.7088928222656
                    },
                    "rotation": {
                        "roll": -2.6682590359428104e-08,
                        "pitch": 0.729996919631958,
                        "yaw": 99.14250183105469
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.9750366210938,
                        "y": 3404.217041015625,
                        "z": 370.2340087890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.443443298339844,
                "transform": {
                    "location": {
                        "x": 956.3327026367188,
                        "y": 3426.217041015625,
                        "z": 370.3896484375
                    },
                    "rotation": {
                        "roll": -0.00018309841107111424,
                        "pitch": 0.3791915774345398,
                        "yaw": 99.14683532714844
                    }
                },
                "velocity": {
                    "x": -2.4549264907836914,
                    "y": 15.246726036071777,
                    "z": 0.10315469652414322
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.07295036315918,
                "transform": {
                    "location": {
                        "x": 952.8438110351562,
                        "y": 3447.90087890625,
                        "z": 370.5224609375
                    },
                    "rotation": {
                        "roll": 0.0004532797902356833,
                        "pitch": 0.2962184548377991,
                        "yaw": 99.13887023925781
                    }
                },
                "velocity": {
                    "x": -2.5526955127716064,
                    "y": 15.868741035461426,
                    "z": 0.08099815249443054
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9996408820152283,
        "expert_target_speed": 0.0,
        "target_point": [
            14.163974484076896,
            3.001103726544804
        ],
        "target_point_next": [
            65.15862044163367,
            2.2661964921484543
        ]
    },
    "280": {
        "acceleration": [
            -0.23967266082763672,
            0.4198455810546875,
            0.0029818713665008545
        ],
        "angular_velocity": [
            0.019667671993374825,
            -0.019794482737779617,
            0.544195830821991
        ],
        "forward_vector": [
            -0.17543381452560425,
            0.9844785928726196,
            0.004983404651284218
        ],
        "right_vector": [
            -0.9844891428947449,
            -0.17544160783290863,
            0.001169645576737821
        ],
        "location": [
            947.0103759765625,
            3484.079833984375,
            370.6775817871094
        ],
        "rotation": [
            -0.0670166015625,
            0.285529226064682,
            100.10403442382812
        ],
        "velocity": [
            -3.0163187980651855,
            16.946109771728516,
            0.06828370690345764
        ],
        "speed": 17.212461052593092,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 937.8070068359375,
                        "y": 3562.417724609375,
                        "z": 371.26092529296875
                    },
                    "rotation": {
                        "roll": 8.337636359101452e-09,
                        "pitch": -0.05173185095191002,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.6796875,
                        "y": 3558.808349609375,
                        "z": 370.9210510253906
                    },
                    "rotation": {
                        "roll": 6.670109353734688e-09,
                        "pitch": -0.055693358182907104,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.742359638214111,
                "transform": {
                    "location": {
                        "x": 944.431640625,
                        "y": 3521.698974609375,
                        "z": 370.8048095703125
                    },
                    "rotation": {
                        "roll": -0.00283812009729445,
                        "pitch": -0.19687336683273315,
                        "yaw": -80.54600524902344
                    }
                },
                "velocity": {
                    "x": 1.0985963344573975,
                    "y": -6.652230262756348,
                    "z": -0.01826864667236805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.412137031555176,
                "transform": {
                    "location": {
                        "x": 948.2303466796875,
                        "y": 3518.580322265625,
                        "z": 370.7790832519531
                    },
                    "rotation": {
                        "roll": 0.003210142021998763,
                        "pitch": -0.060180794447660446,
                        "yaw": -80.53899383544922
                    }
                },
                "velocity": {
                    "x": 1.36590576171875,
                    "y": -8.30047607421875,
                    "z": -0.02127235382795334
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09223747253418,
                "transform": {
                    "location": {
                        "x": 951.1881103515625,
                        "y": 3479.89306640625,
                        "z": 370.6671142578125
                    },
                    "rotation": {
                        "roll": 0.0021427685860544443,
                        "pitch": -0.22778679430484772,
                        "yaw": -80.83989715576172
                    }
                },
                "velocity": {
                    "x": 1.2883784770965576,
                    "y": -7.98894739151001,
                    "z": -0.03326832875609398
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.068398475646973,
                "transform": {
                    "location": {
                        "x": 954.9364013671875,
                        "y": 3477.053466796875,
                        "z": 370.6831970214844
                    },
                    "rotation": {
                        "roll": 0.0016119915526360273,
                        "pitch": -0.23592838644981384,
                        "yaw": -80.84239196777344
                    }
                },
                "velocity": {
                    "x": 1.2828118801116943,
                    "y": -7.965695858001709,
                    "z": -0.03369222581386566
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053255081176758,
                "transform": {
                    "location": {
                        "x": 958.2090454101562,
                        "y": 3436.27734375,
                        "z": 370.4469299316406
                    },
                    "rotation": {
                        "roll": -0.00015258803614415228,
                        "pitch": -0.3399658203125,
                        "yaw": -80.86029815673828
                    }
                },
                "velocity": {
                    "x": 1.2791619300842285,
                    "y": -7.950862407684326,
                    "z": -0.04947648569941521
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066953659057617,
                "transform": {
                    "location": {
                        "x": 961.8250732421875,
                        "y": 3434.260009765625,
                        "z": 370.43988037109375
                    },
                    "rotation": {
                        "roll": 0.000624495092779398,
                        "pitch": -0.3708246052265167,
                        "yaw": -80.85646057128906
                    }
                },
                "velocity": {
                    "x": 1.2820727825164795,
                    "y": -7.964266300201416,
                    "z": -0.049909282475709915
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.7341918945312,
                        "y": 3374.6455078125,
                        "z": 369.939208984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.2891845703125,
                        "y": 3389.83837890625,
                        "z": 370.1044921875
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.778390407562256,
                "transform": {
                    "location": {
                        "x": 944.3521728515625,
                        "y": 3480.208984375,
                        "z": 370.6634216308594
                    },
                    "rotation": {
                        "roll": 0.00032016762997955084,
                        "pitch": 0.22699449956417084,
                        "yaw": 99.14110565185547
                    }
                },
                "velocity": {
                    "x": -1.2357525825500488,
                    "y": 7.679535865783691,
                    "z": 0.03173043206334114
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05948543548584,
                "transform": {
                    "location": {
                        "x": 941.5785522460938,
                        "y": 3497.4365234375,
                        "z": 370.73626708984375
                    },
                    "rotation": {
                        "roll": -0.0001220835983986035,
                        "pitch": 0.18434679508209229,
                        "yaw": 99.1449203491211
                    }
                },
                "velocity": {
                    "x": -1.2808884382247925,
                    "y": 7.957006454467773,
                    "z": 0.025973929092288017
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.2017822265625,
                        "y": 3359.312744140625,
                        "z": 369.7570495605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6958186626434326,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.3616943359375,
                        "y": 3408.028076171875,
                        "z": 370.26385498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.443018913269043,
                "transform": {
                    "location": {
                        "x": 955.7192993164062,
                        "y": 3430.028564453125,
                        "z": 370.4146423339844
                    },
                    "rotation": {
                        "roll": 0.0016503524966537952,
                        "pitch": 0.37208136916160583,
                        "yaw": 99.13810729980469
                    }
                },
                "velocity": {
                    "x": -2.4521641731262207,
                    "y": 15.246761322021484,
                    "z": 0.10006538033485413
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.07314682006836,
                "transform": {
                    "location": {
                        "x": 952.2056274414062,
                        "y": 3451.86767578125,
                        "z": 370.5428466796875
                    },
                    "rotation": {
                        "roll": 0.0004008788673672825,
                        "pitch": 0.2992715537548065,
                        "yaw": 99.13964080810547
                    }
                },
                "velocity": {
                    "x": -2.5529818534851074,
                    "y": 15.868896484375,
                    "z": 0.08044362813234329
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0003008842468262,
        "expert_target_speed": 0.0,
        "target_point": [
            9.882012405238084,
            2.973834285955104
        ],
        "target_point_next": [
            60.87477168417469,
            2.1179685837827424
        ]
    },
    "285": {
        "acceleration": [
            0.17947673797607422,
            -0.43308258056640625,
            -0.009570717811584473
        ],
        "angular_velocity": [
            -0.308917760848999,
            -0.2534022331237793,
            -0.5987102389335632
        ],
        "forward_vector": [
            -0.17495344579219818,
            0.9845674633979797,
            0.00425754627212882
        ],
        "right_vector": [
            -0.9845761060714722,
            -0.1749563217163086,
            0.0003115870931651443
        ],
        "location": [
            946.2559814453125,
            3488.321533203125,
            370.6943359375
        ],
        "rotation": [
            -0.0178527869284153,
            0.24394018948078156,
            100.07604217529297
        ],
        "velocity": [
            -3.0056962966918945,
            16.94369888305664,
            0.06417159736156464
        ],
        "speed": 17.208228905603338,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 938.0086669921875,
                        "y": 3561.16455078125,
                        "z": 371.0271301269531
                    },
                    "rotation": {
                        "roll": 6.670109353734688e-09,
                        "pitch": -0.055693358182907104,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.042419910430908,
                "transform": {
                    "location": {
                        "x": 942.0045776367188,
                        "y": 3556.7900390625,
                        "z": 370.8965148925781
                    },
                    "rotation": {
                        "roll": -0.0032653731759637594,
                        "pitch": -0.17953833937644958,
                        "yaw": -80.84953308105469
                    }
                },
                "velocity": {
                    "x": 1.1274551153182983,
                    "y": -6.950405120849609,
                    "z": -0.12802579998970032
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.787552833557129,
                "transform": {
                    "location": {
                        "x": 944.7233276367188,
                        "y": 3519.93310546875,
                        "z": 370.8002624511719
                    },
                    "rotation": {
                        "roll": -0.00143432489130646,
                        "pitch": -0.23320996761322021,
                        "yaw": -80.58325958251953
                    }
                },
                "velocity": {
                    "x": 1.2675817012786865,
                    "y": -7.683670520782471,
                    "z": -0.020623745396733284
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.014573097229004,
                "transform": {
                    "location": {
                        "x": 948.5648803710938,
                        "y": 3516.54736328125,
                        "z": 370.774169921875
                    },
                    "rotation": {
                        "roll": 0.0013245613081380725,
                        "pitch": -0.15530483424663544,
                        "yaw": -80.6732406616211
                    }
                },
                "velocity": {
                    "x": 1.294786810874939,
                    "y": -7.909262657165527,
                    "z": -0.021754998713731766
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.034087181091309,
                "transform": {
                    "location": {
                        "x": 951.5083618164062,
                        "y": 3477.90673828125,
                        "z": 370.6592102050781
                    },
                    "rotation": {
                        "roll": 7.434580766130239e-05,
                        "pitch": -0.26611098647117615,
                        "yaw": -80.82826232910156
                    }
                },
                "velocity": {
                    "x": 1.278822660446167,
                    "y": -7.931588172912598,
                    "z": -0.032914016395807266
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.99308443069458,
                "transform": {
                    "location": {
                        "x": 955.2554321289062,
                        "y": 3475.07421875,
                        "z": 370.6749572753906
                    },
                    "rotation": {
                        "roll": 0.0006708186701871455,
                        "pitch": -0.24429535865783691,
                        "yaw": -80.82084655761719
                    }
                },
                "velocity": {
                    "x": 1.2734051942825317,
                    "y": -7.890928268432617,
                    "z": -0.03304425626993179
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085512161254883,
                "transform": {
                    "location": {
                        "x": 958.5294799804688,
                        "y": 3434.285888671875,
                        "z": 370.43450927734375
                    },
                    "rotation": {
                        "roll": -0.0009155442821793258,
                        "pitch": -0.3682291507720947,
                        "yaw": -80.86051940917969
                    }
                },
                "velocity": {
                    "x": 1.2842315435409546,
                    "y": -7.982723236083984,
                    "z": -0.04888145253062248
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006080627441406,
                "transform": {
                    "location": {
                        "x": 962.144287109375,
                        "y": 3432.2763671875,
                        "z": 370.42694091796875
                    },
                    "rotation": {
                        "roll": 0.000902764149941504,
                        "pitch": -0.36843404173851013,
                        "yaw": -80.85619354248047
                    }
                },
                "velocity": {
                    "x": 1.2722803354263306,
                    "y": -7.904170513153076,
                    "z": -0.05213487148284912
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.1207885742188,
                        "y": 3378.456787109375,
                        "z": 369.983154296875
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.6756591796875,
                        "y": 3393.64990234375,
                        "z": 370.14117431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.741104602813721,
                "transform": {
                    "location": {
                        "x": 944.0439453125,
                        "y": 3482.124267578125,
                        "z": 370.6711730957031
                    },
                    "rotation": {
                        "roll": 0.00016316543042194098,
                        "pitch": 0.22807367146015167,
                        "yaw": 99.14340209960938
                    }
                },
                "velocity": {
                    "x": -1.230356216430664,
                    "y": 7.642647743225098,
                    "z": 0.029357785359025
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998989105224609,
                "transform": {
                    "location": {
                        "x": 941.2598266601562,
                        "y": 3499.41796875,
                        "z": 370.7428283691406
                    },
                    "rotation": {
                        "roll": 8.365023677470163e-05,
                        "pitch": 0.18597237765789032,
                        "yaw": 99.13938903808594
                    }
                },
                "velocity": {
                    "x": -1.2705110311508179,
                    "y": 7.89740514755249,
                    "z": 0.025029867887496948
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.5883178710938,
                        "y": 3363.124267578125,
                        "z": 369.8034973144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.7482299804688,
                        "y": 3411.83984375,
                        "z": 370.2918701171875
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.44419002532959,
                "transform": {
                    "location": {
                        "x": 955.106201171875,
                        "y": 3433.84033203125,
                        "z": 370.43939208984375
                    },
                    "rotation": {
                        "roll": 0.0008380766375921667,
                        "pitch": 0.3738093972206116,
                        "yaw": 99.13381958007812
                    }
                },
                "velocity": {
                    "x": -2.451774835586548,
                    "y": 15.248019218444824,
                    "z": 0.09862586855888367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.073833465576172,
                "transform": {
                    "location": {
                        "x": 951.5670166015625,
                        "y": 3455.834716796875,
                        "z": 370.5625305175781
                    },
                    "rotation": {
                        "roll": -0.0014953736681491137,
                        "pitch": 0.26460152864456177,
                        "yaw": 99.14812469482422
                    }
                },
                "velocity": {
                    "x": -2.5549731254577637,
                    "y": 15.869295120239258,
                    "z": 0.07558887451887131
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9988046288490295,
        "expert_target_speed": 3.167859442285034,
        "target_point": [
            56.56546604269224,
            2.1470965735362366
        ],
        "target_point_next": [
            82.82209763236726,
            1.7192616158658538
        ]
    },
    "290": {
        "acceleration": [
            0.33330440521240234,
            -0.7338714599609375,
            0.0038742274045944214
        ],
        "angular_velocity": [
            -0.181609645485878,
            -0.2185845524072647,
            -0.7470934391021729
        ],
        "forward_vector": [
            -0.17192485928535461,
            0.9851050972938538,
            0.003123754868283868
        ],
        "right_vector": [
            -0.9851100444793701,
            -0.17192396521568298,
            -0.0005498480168171227
        ],
        "location": [
            945.5132446289062,
            3492.536865234375,
            370.7099914550781
        ],
        "rotation": [
            0.03150412440299988,
            0.17897826433181763,
            99.8998031616211
        ],
        "velocity": [
            -2.933673858642578,
            16.77989387512207,
            0.060467250645160675
        ],
        "speed": 17.03441460013352,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.765511512756348,
                "transform": {
                    "location": {
                        "x": 938.324951171875,
                        "y": 3559.21533203125,
                        "z": 370.9067077636719
                    },
                    "rotation": {
                        "roll": -0.031829833984375,
                        "pitch": -0.3414616286754608,
                        "yaw": -80.75127410888672
                    }
                },
                "velocity": {
                    "x": 1.1217139959335327,
                    "y": -6.665140151977539,
                    "z": -0.29968762397766113
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.746241569519043,
                "transform": {
                    "location": {
                        "x": 942.2874755859375,
                        "y": 3555.09765625,
                        "z": 370.87066650390625
                    },
                    "rotation": {
                        "roll": -0.04504396393895149,
                        "pitch": -0.294743150472641,
                        "yaw": -80.50248718261719
                    }
                },
                "velocity": {
                    "x": 1.145988941192627,
                    "y": -6.647934436798096,
                    "z": -0.05875197425484657
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.596526145935059,
                "transform": {
                    "location": {
                        "x": 945.0696411132812,
                        "y": 3517.825927734375,
                        "z": 370.79449462890625
                    },
                    "rotation": {
                        "roll": -0.004150389693677425,
                        "pitch": -0.2395620346069336,
                        "yaw": -80.68327331542969
                    }
                },
                "velocity": {
                    "x": 1.3823232650756836,
                    "y": -8.484622955322266,
                    "z": -0.025066537782549858
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.93779993057251,
                "transform": {
                    "location": {
                        "x": 948.8839111328125,
                        "y": 3514.599853515625,
                        "z": 370.7688293457031
                    },
                    "rotation": {
                        "roll": 8.764553786022589e-05,
                        "pitch": -0.15945759415626526,
                        "yaw": -80.7047348022461
                    }
                },
                "velocity": {
                    "x": 1.2824368476867676,
                    "y": -7.833488464355469,
                    "z": -0.022020649164915085
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.085615158081055,
                "transform": {
                    "location": {
                        "x": 951.8291015625,
                        "y": 3475.917724609375,
                        "z": 370.65057373046875
                    },
                    "rotation": {
                        "roll": -0.00045777318882755935,
                        "pitch": -0.23370173573493958,
                        "yaw": -80.86204528808594
                    }
                },
                "velocity": {
                    "x": 1.285952091217041,
                    "y": -7.982631206512451,
                    "z": -0.033147264271974564
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047308921813965,
                "transform": {
                    "location": {
                        "x": 955.5747680664062,
                        "y": 3473.09521484375,
                        "z": 370.66656494140625
                    },
                    "rotation": {
                        "roll": 0.0005475669750012457,
                        "pitch": -0.2352931797504425,
                        "yaw": -80.85920715332031
                    }
                },
                "velocity": {
                    "x": 1.2786117792129517,
                    "y": -7.945013046264648,
                    "z": -0.03330511599779129
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051324844360352,
                "transform": {
                    "location": {
                        "x": 958.8499755859375,
                        "y": 3432.294677734375,
                        "z": 370.421630859375
                    },
                    "rotation": {
                        "roll": 0.0009282314567826688,
                        "pitch": -0.3709065616130829,
                        "yaw": -80.85729217529297
                    }
                },
                "velocity": {
                    "x": 1.2793240547180176,
                    "y": -7.948863506317139,
                    "z": -0.052274107933044434
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066597938537598,
                "transform": {
                    "location": {
                        "x": 962.4635620117188,
                        "y": 3430.292724609375,
                        "z": 370.4139709472656
                    },
                    "rotation": {
                        "roll": 0.00095524569042027,
                        "pitch": -0.36877554655075073,
                        "yaw": -80.85601043701172
                    }
                },
                "velocity": {
                    "x": 1.2818409204483032,
                    "y": -7.96392297744751,
                    "z": -0.05308840796351433
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.5073852539062,
                        "y": 3382.268310546875,
                        "z": 370.02545166015625
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.0621948242188,
                        "y": 3397.46142578125,
                        "z": 370.1759948730469
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.776386737823486,
                "transform": {
                    "location": {
                        "x": 943.7357788085938,
                        "y": 3484.039306640625,
                        "z": 370.6788330078125
                    },
                    "rotation": {
                        "roll": 0.0002920462575275451,
                        "pitch": 0.22836053371429443,
                        "yaw": 99.14247131347656
                    }
                },
                "velocity": {
                    "x": -1.2355297803878784,
                    "y": 7.677549839019775,
                    "z": 0.029742250218987465
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.060115814208984,
                "transform": {
                    "location": {
                        "x": 940.941162109375,
                        "y": 3501.39990234375,
                        "z": 370.7492370605469
                    },
                    "rotation": {
                        "roll": 0.0001896520989248529,
                        "pitch": 0.18222260475158691,
                        "yaw": 99.13533782958984
                    }
                },
                "velocity": {
                    "x": -1.279727816581726,
                    "y": 7.957832336425781,
                    "z": 0.025696516036987305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.9747924804688,
                        "y": 3366.935791015625,
                        "z": 369.84881591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.1348876953125,
                        "y": 3415.651123046875,
                        "z": 370.3185729980469
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.445672035217285,
                "transform": {
                    "location": {
                        "x": 954.4932861328125,
                        "y": 3437.65234375,
                        "z": 370.46282958984375
                    },
                    "rotation": {
                        "roll": 0.00010372189717600122,
                        "pitch": 0.33243894577026367,
                        "yaw": 99.13813781738281
                    }
                },
                "velocity": {
                    "x": -2.4541285037994385,
                    "y": 15.249197959899902,
                    "z": 0.0894281193614006
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.074325561523438,
                "transform": {
                    "location": {
                        "x": 950.9281616210938,
                        "y": 3459.802490234375,
                        "z": 370.5804138183594
                    },
                    "rotation": {
                        "roll": -0.0010070763528347015,
                        "pitch": 0.26052388548851013,
                        "yaw": 99.14883422851562
                    }
                },
                "velocity": {
                    "x": -2.5557262897491455,
                    "y": 15.86968994140625,
                    "z": 0.07203739136457443
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9992155432701111,
        "expert_target_speed": 8.590845430060897,
        "target_point": [
            52.278333411171836,
            2.3141179838753096
        ],
        "target_point_next": [
            78.53615674582156,
            1.9670460702177586
        ]
    },
    "295": {
        "acceleration": [
            0.3285360336303711,
            -0.5880355834960938,
            -0.012174621224403381
        ],
        "angular_velocity": [
            -0.07416775077581406,
            -0.09552152454853058,
            -0.7519892454147339
        ],
        "forward_vector": [
            -0.1686951369047165,
            0.9856656789779663,
            0.002259490778669715
        ],
        "right_vector": [
            -0.9856680035591125,
            -0.16869305074214935,
            -0.001084284158423543
        ],
        "location": [
            944.790771484375,
            3496.70751953125,
            370.7247619628906
        ],
        "rotation": [
            0.062125083059072495,
            0.12945939600467682,
            99.71198272705078
        ],
        "velocity": [
            -2.8480217456817627,
            16.60474967956543,
            0.056242749094963074
        ],
        "speed": 16.847223503738068,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.986480236053467,
                "transform": {
                    "location": {
                        "x": 938.6148071289062,
                        "y": 3557.51611328125,
                        "z": 370.8758544921875
                    },
                    "rotation": {
                        "roll": -0.012756356038153172,
                        "pitch": -0.15175996720790863,
                        "yaw": -80.39185333251953
                    }
                },
                "velocity": {
                    "x": 1.1706738471984863,
                    "y": -6.887543678283691,
                    "z": -0.04662661626935005
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.982895374298096,
                "transform": {
                    "location": {
                        "x": 942.5784912109375,
                        "y": 3553.40234375,
                        "z": 370.86517333984375
                    },
                    "rotation": {
                        "roll": -0.0029296865686774254,
                        "pitch": -0.045434415340423584,
                        "yaw": -80.22381591796875
                    }
                },
                "velocity": {
                    "x": 1.1793700456619263,
                    "y": -6.882572650909424,
                    "z": 0.010295829735696316
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.891160011291504,
                "transform": {
                    "location": {
                        "x": 945.3998413085938,
                        "y": 3515.800537109375,
                        "z": 370.7877197265625
                    },
                    "rotation": {
                        "roll": -0.0009460429428145289,
                        "pitch": -0.1122746467590332,
                        "yaw": -80.74034118652344
                    }
                },
                "velocity": {
                    "x": 1.2667192220687866,
                    "y": -7.788798809051514,
                    "z": -0.021106820553541183
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.171675682067871,
                "transform": {
                    "location": {
                        "x": 949.2095336914062,
                        "y": 3512.5986328125,
                        "z": 370.7631530761719
                    },
                    "rotation": {
                        "roll": 0.0007887827232480049,
                        "pitch": -0.14840634167194366,
                        "yaw": -80.7648696899414
                    }
                },
                "velocity": {
                    "x": 1.307997465133667,
                    "y": -8.066283226013184,
                    "z": -0.02221728302538395
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09228801727295,
                "transform": {
                    "location": {
                        "x": 952.1508178710938,
                        "y": 3473.919189453125,
                        "z": 370.6421813964844
                    },
                    "rotation": {
                        "roll": 8.070893272815738e-06,
                        "pitch": -0.23068279027938843,
                        "yaw": -80.8366928100586
                    }
                },
                "velocity": {
                    "x": 1.2869846820831299,
                    "y": -7.989225387573242,
                    "z": -0.032777246087789536
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032037734985352,
                "transform": {
                    "location": {
                        "x": 955.8943481445312,
                        "y": 3471.109375,
                        "z": 370.6582336425781
                    },
                    "rotation": {
                        "roll": -0.0009765652939677238,
                        "pitch": -0.23721246421337128,
                        "yaw": -80.83782196044922
                    }
                },
                "velocity": {
                    "x": 1.2793350219726562,
                    "y": -7.929426193237305,
                    "z": -0.03358748182654381
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085622787475586,
                "transform": {
                    "location": {
                        "x": 959.1705322265625,
                        "y": 3430.302978515625,
                        "z": 370.4085388183594
                    },
                    "rotation": {
                        "roll": 0.0015860374551266432,
                        "pitch": -0.36886435747146606,
                        "yaw": -80.85672760009766
                    }
                },
                "velocity": {
                    "x": 1.2848211526870728,
                    "y": -7.982715129852295,
                    "z": -0.05275244265794754
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005589485168457,
                "transform": {
                    "location": {
                        "x": 962.7827758789062,
                        "y": 3428.309326171875,
                        "z": 370.4010009765625
                    },
                    "rotation": {
                        "roll": 0.0006415974348783493,
                        "pitch": -0.3677646815776825,
                        "yaw": -80.85603332519531
                    }
                },
                "velocity": {
                    "x": 1.2721688747406006,
                    "y": -7.903687477111816,
                    "z": -0.052620548754930496
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.8938598632812,
                        "y": 3386.07958984375,
                        "z": 370.06591796875
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.4489135742188,
                        "y": 3401.272705078125,
                        "z": 370.20947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.742473125457764,
                "transform": {
                    "location": {
                        "x": 943.4276123046875,
                        "y": 3485.954345703125,
                        "z": 370.6862487792969
                    },
                    "rotation": {
                        "roll": 2.4919698262237944e-05,
                        "pitch": 0.21856604516506195,
                        "yaw": 99.13886260986328
                    }
                },
                "velocity": {
                    "x": -1.2296693325042725,
                    "y": 7.644145488739014,
                    "z": 0.029093904420733452
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9997358322143555,
                "transform": {
                    "location": {
                        "x": 940.6224975585938,
                        "y": 3503.3818359375,
                        "z": 370.75543212890625
                    },
                    "rotation": {
                        "roll": -0.00036621707840822637,
                        "pitch": 0.16816607117652893,
                        "yaw": 99.13517761230469
                    }
                },
                "velocity": {
                    "x": -1.2700570821762085,
                    "y": 7.898232936859131,
                    "z": 0.02548661082983017
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.3614501953125,
                        "y": 3370.7470703125,
                        "z": 369.8935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.5215454101562,
                        "y": 3419.46240234375,
                        "z": 370.3447265625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.446072578430176,
                "transform": {
                    "location": {
                        "x": 953.879638671875,
                        "y": 3441.46484375,
                        "z": 370.4849548339844
                    },
                    "rotation": {
                        "roll": 0.0007608320447616279,
                        "pitch": 0.3350617289543152,
                        "yaw": 99.14514923095703
                    }
                },
                "velocity": {
                    "x": -2.4547839164733887,
                    "y": 15.249505043029785,
                    "z": 0.08821498602628708
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.07452392578125,
                "transform": {
                    "location": {
                        "x": 950.2892456054688,
                        "y": 3463.77001953125,
                        "z": 370.5982360839844
                    },
                    "rotation": {
                        "roll": -0.00027466437313705683,
                        "pitch": 0.2554763853549957,
                        "yaw": 99.14889526367188
                    }
                },
                "velocity": {
                    "x": -2.5557796955108643,
                    "y": 15.869891166687012,
                    "z": 0.06968236714601517
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9996325373649597,
        "expert_target_speed": 7.6303866687854445,
        "target_point": [
            48.037706900915495,
            2.4769372160864656
        ],
        "target_point_next": [
            74.29652692817669,
            2.2159468660123682
        ]
    },
    "300": {
        "acceleration": [
            0.3737449645996094,
            -0.3424072265625,
            -0.009914785623550415
        ],
        "angular_velocity": [
            0.08079667389392853,
            -0.10586728900671005,
            -0.9797490835189819
        ],
        "forward_vector": [
            -0.16528984904289246,
            0.9862421751022339,
            0.0023915742058306932
        ],
        "right_vector": [
            -0.9862444996833801,
            -0.1652868390083313,
            -0.0014106035232543945
        ],
        "location": [
            944.0883178710938,
            3500.84375,
            370.7384033203125
        ],
        "rotation": [
            0.08082188665866852,
            0.13702724874019623,
            99.51409912109375
        ],
        "velocity": [
            -2.7675833702087402,
            16.500688552856445,
            0.05338330194354057
        ],
        "speed": 16.73117570374012,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.7697906494140625,
                "transform": {
                    "location": {
                        "x": 938.9029541015625,
                        "y": 3555.8212890625,
                        "z": 370.8697509765625
                    },
                    "rotation": {
                        "roll": -0.0043029808439314365,
                        "pitch": -0.09057513624429703,
                        "yaw": -80.35673522949219
                    }
                },
                "velocity": {
                    "x": 1.1351594924926758,
                    "y": -6.673927307128906,
                    "z": -0.013213862664997578
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.7838454246521,
                "transform": {
                    "location": {
                        "x": 942.8499145507812,
                        "y": 3551.810302734375,
                        "z": 370.86871337890625
                    },
                    "rotation": {
                        "roll": 0.012607654556632042,
                        "pitch": -0.2351975440979004,
                        "yaw": -80.29246520996094
                    }
                },
                "velocity": {
                    "x": 0.9663786292076111,
                    "y": -5.702541351318359,
                    "z": 0.0003456020203884691
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.989257335662842,
                "transform": {
                    "location": {
                        "x": 945.7159423828125,
                        "y": 3513.85888671875,
                        "z": 370.78265380859375
                    },
                    "rotation": {
                        "roll": -0.0014648404903709888,
                        "pitch": -0.15014120936393738,
                        "yaw": -80.75540161132812
                    }
                },
                "velocity": {
                    "x": 1.2815128564834595,
                    "y": -7.885777950286865,
                    "z": -0.021584991365671158
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.960422992706299,
                "transform": {
                    "location": {
                        "x": 949.5319213867188,
                        "y": 3510.611572265625,
                        "z": 370.757568359375
                    },
                    "rotation": {
                        "roll": 0.00034782092552632093,
                        "pitch": -0.17156751453876495,
                        "yaw": -80.78935241699219
                    }
                },
                "velocity": {
                    "x": 1.2740105390548706,
                    "y": -7.857781887054443,
                    "z": -0.022146491333842278
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.068159103393555,
                "transform": {
                    "location": {
                        "x": 952.47216796875,
                        "y": 3471.92578125,
                        "z": 370.6339416503906
                    },
                    "rotation": {
                        "roll": 0.00025031802942976356,
                        "pitch": -0.24459588527679443,
                        "yaw": -80.86320495605469
                    }
                },
                "velocity": {
                    "x": 1.2829221487045288,
                    "y": -7.965437889099121,
                    "z": -0.033091891556978226
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.020868301391602,
                "transform": {
                    "location": {
                        "x": 956.2132568359375,
                        "y": 3469.1298828125,
                        "z": 370.64990234375
                    },
                    "rotation": {
                        "roll": -0.0007934560999274254,
                        "pitch": -0.23975329101085663,
                        "yaw": -80.86896514892578
                    }
                },
                "velocity": {
                    "x": 1.2745764255523682,
                    "y": -7.918880939483643,
                    "z": -0.03331446647644043
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.4678955078125,
                        "y": 3428.26708984375,
                        "z": 370.3968811035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4064,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.0313720703125,
                        "y": 3426.240966796875,
                        "z": 370.3845520019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.2807006835938,
                        "y": 3389.89111328125,
                        "z": 370.10498046875
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.8355102539062,
                        "y": 3405.084228515625,
                        "z": 370.2409362792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.778609752655029,
                "transform": {
                    "location": {
                        "x": 943.1195068359375,
                        "y": 3487.869873046875,
                        "z": 370.6936340332031
                    },
                    "rotation": {
                        "roll": 2.2171576347318478e-05,
                        "pitch": 0.20557501912117004,
                        "yaw": 99.1380844116211
                    }
                },
                "velocity": {
                    "x": -1.2353904247283936,
                    "y": 7.6798248291015625,
                    "z": 0.02947046235203743
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059316635131836,
                "transform": {
                    "location": {
                        "x": 940.3037109375,
                        "y": 3505.364013671875,
                        "z": 370.7613525390625
                    },
                    "rotation": {
                        "roll": 0.0006094501004554331,
                        "pitch": 0.16390404105186462,
                        "yaw": 99.135498046875
                    }
                },
                "velocity": {
                    "x": -1.2795590162277222,
                    "y": 7.957055568695068,
                    "z": 0.02410079911351204
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.7481689453125,
                        "y": 3374.55859375,
                        "z": 369.9382019042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.9080200195312,
                        "y": 3423.27392578125,
                        "z": 370.3708190917969
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.446636199951172,
                "transform": {
                    "location": {
                        "x": 953.2658081054688,
                        "y": 3445.277099609375,
                        "z": 370.5067443847656
                    },
                    "rotation": {
                        "roll": -0.001281733508221805,
                        "pitch": 0.31341004371643066,
                        "yaw": 99.15025329589844
                    }
                },
                "velocity": {
                    "x": -2.455878496170044,
                    "y": 15.249926567077637,
                    "z": 0.08352664858102798
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.074787139892578,
                "transform": {
                    "location": {
                        "x": 949.650390625,
                        "y": 3467.73779296875,
                        "z": 370.61517333984375
                    },
                    "rotation": {
                        "roll": -0.000854501617141068,
                        "pitch": 0.24208921194076538,
                        "yaw": 99.14887237548828
                    }
                },
                "velocity": {
                    "x": -2.5558269023895264,
                    "y": 15.870162963867188,
                    "z": 0.06664573401212692
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9997124075889587,
        "expert_target_speed": 0.0,
        "target_point": [
            43.83342241383349,
            2.633685864068867
        ],
        "target_point_next": [
            70.09298709721148,
            2.4633690228210927
        ]
    },
    "305": {
        "acceleration": [
            0.5799102783203125,
            -1.5087890625,
            -0.03341369330883026
        ],
        "angular_velocity": [
            -0.3434654772281647,
            -0.09373793005943298,
            -1.2014051675796509
        ],
        "forward_vector": [
            -0.16038815677165985,
            0.9870526790618896,
            0.001615881104953587
        ],
        "right_vector": [
            -0.987052857875824,
            -0.16038526594638824,
            -0.0017884887056425214
        ],
        "location": [
            943.40966796875,
            3504.945556640625,
            370.7512512207031
        ],
        "rotation": [
            0.10247304290533066,
            0.09258320927619934,
            99.22943878173828
        ],
        "velocity": [
            -2.6495044231414795,
            16.26848030090332,
            0.04811685532331467
        ],
        "speed": 16.482819085008657,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.668946743011475,
                "transform": {
                    "location": {
                        "x": 939.1531982421875,
                        "y": 3554.350341796875,
                        "z": 370.86737060546875
                    },
                    "rotation": {
                        "roll": -0.0015869237249717116,
                        "pitch": -0.22387993335723877,
                        "yaw": -80.34879302978516
                    }
                },
                "velocity": {
                    "x": 0.950457751750946,
                    "y": -5.588695526123047,
                    "z": -0.008156929165124893
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.21282434463501,
                "transform": {
                    "location": {
                        "x": 943.0767211914062,
                        "y": 3550.47265625,
                        "z": 370.8675842285156
                    },
                    "rotation": {
                        "roll": 0.0017218725988641381,
                        "pitch": -0.307153582572937,
                        "yaw": -80.36756896972656
                    }
                },
                "velocity": {
                    "x": 0.8675166368484497,
                    "y": -5.140121936798096,
                    "z": -0.009987583383917809
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.089272499084473,
                "transform": {
                    "location": {
                        "x": 946.0390625,
                        "y": 3511.864501953125,
                        "z": 370.7772216796875
                    },
                    "rotation": {
                        "roll": -0.0007934527238830924,
                        "pitch": -0.1716904491186142,
                        "yaw": -80.79383850097656
                    }
                },
                "velocity": {
                    "x": 1.2921621799468994,
                    "y": -7.985372066497803,
                    "z": -0.021753238514065742
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.092458724975586,
                "transform": {
                    "location": {
                        "x": 949.852294921875,
                        "y": 3508.6328125,
                        "z": 370.751708984375
                    },
                    "rotation": {
                        "roll": 0.0023818982299417257,
                        "pitch": -0.16509932279586792,
                        "yaw": -80.80593872070312
                    }
                },
                "velocity": {
                    "x": 1.2903376817703247,
                    "y": -7.988890171051025,
                    "z": -0.023493189364671707
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.073493957519531,
                "transform": {
                    "location": {
                        "x": 952.7926635742188,
                        "y": 3469.93408203125,
                        "z": 370.62554931640625
                    },
                    "rotation": {
                        "roll": 4.637098390958272e-05,
                        "pitch": -0.2398625761270523,
                        "yaw": -80.83988952636719
                    }
                },
                "velocity": {
                    "x": 1.2833338975906372,
                    "y": -7.970774173736572,
                    "z": -0.03340372070670128
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.037656784057617,
                "transform": {
                    "location": {
                        "x": 956.5321655273438,
                        "y": 3467.1474609375,
                        "z": 370.6416320800781
                    },
                    "rotation": {
                        "roll": -0.0009460426517762244,
                        "pitch": -0.23715098202228546,
                        "yaw": -80.84355163574219
                    }
                },
                "velocity": {
                    "x": 1.277262806892395,
                    "y": -7.93545389175415,
                    "z": -0.03318333253264427
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4065,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.7503051757812,
                        "y": 3426.202392578125,
                        "z": 370.3859558105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.667236328125,
                        "y": 3393.702392578125,
                        "z": 370.14166259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.2221069335938,
                        "y": 3408.8955078125,
                        "z": 370.2703552246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.909548282623291,
                "transform": {
                    "location": {
                        "x": 942.8096923828125,
                        "y": 3489.796142578125,
                        "z": 370.70062255859375
                    },
                    "rotation": {
                        "roll": -0.00015259305655490607,
                        "pitch": 0.21008294820785522,
                        "yaw": 99.13833618164062
                    }
                },
                "velocity": {
                    "x": -1.25616455078125,
                    "y": 7.809108734130859,
                    "z": 0.02879270538687706
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.000349998474121,
                "transform": {
                    "location": {
                        "x": 939.9850463867188,
                        "y": 3507.345458984375,
                        "z": 370.7672119140625
                    },
                    "rotation": {
                        "roll": 0.00022442999761551619,
                        "pitch": 0.16531789302825928,
                        "yaw": 99.13545227050781
                    }
                },
                "velocity": {
                    "x": -1.270220160484314,
                    "y": 7.898837566375732,
                    "z": 0.022671060636639595
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.134765625,
                        "y": 3378.369873046875,
                        "z": 369.9820861816406
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.2944946289062,
                        "y": 3427.085205078125,
                        "z": 370.3966369628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.447164535522461,
                "transform": {
                    "location": {
                        "x": 952.6519165039062,
                        "y": 3449.089599609375,
                        "z": 370.52679443359375
                    },
                    "rotation": {
                        "roll": 0.0013189645251259208,
                        "pitch": 0.296450674533844,
                        "yaw": 99.1452865600586
                    }
                },
                "velocity": {
                    "x": -2.455498695373535,
                    "y": 15.250541687011719,
                    "z": 0.07996852695941925
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.06534767150879,
                "transform": {
                    "location": {
                        "x": 949.01171875,
                        "y": 3471.704833984375,
                        "z": 370.63177490234375
                    },
                    "rotation": {
                        "roll": -0.0006103602354414761,
                        "pitch": 0.24241022765636444,
                        "yaw": 99.14289093017578
                    }
                },
                "velocity": {
                    "x": -2.5529863834381104,
                    "y": 15.861058235168457,
                    "z": 0.0668758749961853
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0003858804702759,
        "expert_target_speed": 0.0,
        "target_point": [
            39.662242735481,
            2.839472207751103
        ],
        "target_point_next": [
            65.92232952876782,
            2.799637600083976
        ]
    },
    "310": {
        "acceleration": [
            0.6030988693237305,
            -1.615142822265625,
            -0.010876655578613281
        ],
        "angular_velocity": [
            -0.16016924381256104,
            -0.06307900696992874,
            -1.2024526596069336
        ],
        "forward_vector": [
            -0.1551860123872757,
            0.9878851771354675,
            0.00038838383625261486
        ],
        "right_vector": [
            -0.9878833293914795,
            -0.15518493950366974,
            -0.002025378867983818
        ],
        "location": [
            942.7662963867188,
            3508.95751953125,
            370.76324462890625
        ],
        "rotation": [
            0.1160457506775856,
            0.022252755239605904,
            98.9275894165039
        ],
        "velocity": [
            -2.496530294418335,
            15.85168743133545,
            0.04605100676417351
        ],
        "speed": 16.04707630478857,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.81788969039917,
                "transform": {
                    "location": {
                        "x": 939.393798828125,
                        "y": 3552.928955078125,
                        "z": 370.86566162109375
                    },
                    "rotation": {
                        "roll": 0.008656689897179604,
                        "pitch": -0.08404546976089478,
                        "yaw": -80.39151763916016
                    }
                },
                "velocity": {
                    "x": 0.9616417288780212,
                    "y": -5.737861156463623,
                    "z": -0.006150541361421347
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.073066711425781,
                "transform": {
                    "location": {
                        "x": 943.3034057617188,
                        "y": 3549.129638671875,
                        "z": 370.8621826171875
                    },
                    "rotation": {
                        "roll": -0.00015258703206200153,
                        "pitch": 0.03119347244501114,
                        "yaw": -80.39322662353516
                    }
                },
                "velocity": {
                    "x": 1.0090181827545166,
                    "y": -5.988649845123291,
                    "z": -0.009955959394574165
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030003547668457,
                "transform": {
                    "location": {
                        "x": 946.360595703125,
                        "y": 3509.876708984375,
                        "z": 370.7713928222656
                    },
                    "rotation": {
                        "roll": -0.00048828034778125584,
                        "pitch": -0.15798909962177277,
                        "yaw": -80.80944061279297
                    }
                },
                "velocity": {
                    "x": 1.2824735641479492,
                    "y": -7.9268975257873535,
                    "z": -0.02243110164999962
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03246021270752,
                "transform": {
                    "location": {
                        "x": 950.1742553710938,
                        "y": 3506.639892578125,
                        "z": 370.745849609375
                    },
                    "rotation": {
                        "roll": -0.00021361773542594165,
                        "pitch": -0.1673874408006668,
                        "yaw": -80.82463836669922
                    }
                },
                "velocity": {
                    "x": 1.2794530391693115,
                    "y": -7.929869651794434,
                    "z": -0.024269914254546165
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.081820487976074,
                "transform": {
                    "location": {
                        "x": 953.1138916015625,
                        "y": 3467.93994140625,
                        "z": 370.6170959472656
                    },
                    "rotation": {
                        "roll": 6.524753553094342e-05,
                        "pitch": -0.23635868728160858,
                        "yaw": -80.87007904052734
                    }
                },
                "velocity": {
                    "x": 1.2840996980667114,
                    "y": -7.979084491729736,
                    "z": -0.03334301337599754
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026805877685547,
                "transform": {
                    "location": {
                        "x": 956.8514404296875,
                        "y": 3465.16455078125,
                        "z": 370.63311767578125
                    },
                    "rotation": {
                        "roll": -0.0008850111626088619,
                        "pitch": -0.2465834766626358,
                        "yaw": -80.86949157714844
                    }
                },
                "velocity": {
                    "x": 1.2753450870513916,
                    "y": -7.9247660636901855,
                    "z": -0.0344773605465889
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.0537109375,
                        "y": 3397.513916015625,
                        "z": 370.1765441894531
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.6088256835938,
                        "y": 3412.70654296875,
                        "z": 370.2980041503906
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.321622848510742,
                "transform": {
                    "location": {
                        "x": 942.4847412109375,
                        "y": 3491.81591796875,
                        "z": 370.70794677734375
                    },
                    "rotation": {
                        "roll": 0.00032176822423934937,
                        "pitch": 0.21676969528198242,
                        "yaw": 99.13819122314453
                    }
                },
                "velocity": {
                    "x": -1.3216286897659302,
                    "y": 8.215950012207031,
                    "z": 0.02960217371582985
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059159278869629,
                "transform": {
                    "location": {
                        "x": 939.6663208007812,
                        "y": 3509.32763671875,
                        "z": 370.77301025390625
                    },
                    "rotation": {
                        "roll": 0.0005559956771321595,
                        "pitch": 0.16421139240264893,
                        "yaw": 99.13745880126953
                    }
                },
                "velocity": {
                    "x": -1.2815378904342651,
                    "y": 7.956584453582764,
                    "z": 0.021493205800652504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.5213623046875,
                        "y": 3382.18115234375,
                        "z": 370.02447509765625
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.6814575195312,
                        "y": 3430.8955078125,
                        "z": 370.4219055175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.409972190856934,
                "transform": {
                    "location": {
                        "x": 952.03857421875,
                        "y": 3452.899658203125,
                        "z": 370.5464782714844
                    },
                    "rotation": {
                        "roll": -0.0005798399215564132,
                        "pitch": 0.29315170645713806,
                        "yaw": 99.14459991455078
                    }
                },
                "velocity": {
                    "x": -2.4489848613739014,
                    "y": 15.213923454284668,
                    "z": 0.07904703170061111
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.956198692321777,
                "transform": {
                    "location": {
                        "x": 948.3759155273438,
                        "y": 3475.655029296875,
                        "z": 370.64837646484375
                    },
                    "rotation": {
                        "roll": -3.0515973776346073e-05,
                        "pitch": 0.22642076015472412,
                        "yaw": 99.14247131347656
                    }
                },
                "velocity": {
                    "x": -2.535238265991211,
                    "y": 15.753363609313965,
                    "z": 0.06609059870243073
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0013322830200195,
        "expert_target_speed": 0.0,
        "target_point": [
            35.58353251848789,
            3.0353993693892063
        ],
        "target_point_next": [
            61.84346476815907,
            3.133905357047455
        ]
    },
    "315": {
        "acceleration": [
            0.13434410095214844,
            -1.1564254760742188,
            -0.009942874312400818
        ],
        "angular_velocity": [
            0.029783248901367188,
            0.28238895535469055,
            0.25516289472579956
        ],
        "forward_vector": [
            -0.15273192524909973,
            0.9882676601409912,
            0.00012731552124023438
        ],
        "right_vector": [
            -0.9882667660713196,
            -0.15273162722587585,
            -0.0013403440825641155
        ],
        "location": [
            942.1548461914062,
            3512.873779296875,
            370.7742919921875
        ],
        "rotation": [
            0.07679607719182968,
            0.007294641807675362,
            98.7852783203125
        ],
        "velocity": [
            -2.4120519161224365,
            15.513538360595703,
            0.04424700513482094
        ],
        "speed": 15.699932067106033,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.19140911102295,
                "transform": {
                    "location": {
                        "x": 939.6873168945312,
                        "y": 3551.166748046875,
                        "z": 370.86346435546875
                    },
                    "rotation": {
                        "roll": 0.00942337978631258,
                        "pitch": 0.27406132221221924,
                        "yaw": -80.52403259277344
                    }
                },
                "velocity": {
                    "x": 1.3419034481048584,
                    "y": -8.080741882324219,
                    "z": -0.009864101186394691
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.629581451416016,
                "transform": {
                    "location": {
                        "x": 943.5990600585938,
                        "y": 3547.3515625,
                        "z": 370.8565673828125
                    },
                    "rotation": {
                        "roll": 0.01303614117205143,
                        "pitch": 0.3702508807182312,
                        "yaw": -80.46550750732422
                    }
                },
                "velocity": {
                    "x": 1.244542121887207,
                    "y": -7.527383327484131,
                    "z": -0.01130908913910389
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999427795410156,
                "transform": {
                    "location": {
                        "x": 946.6798706054688,
                        "y": 3507.9013671875,
                        "z": 370.7656555175781
                    },
                    "rotation": {
                        "roll": -0.0010070769349113107,
                        "pitch": -0.1676606386899948,
                        "yaw": -80.81986236572266
                    }
                },
                "velocity": {
                    "x": 1.2743757963180542,
                    "y": -7.897234916687012,
                    "z": -0.02230624109506607
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.059208869934082,
                "transform": {
                    "location": {
                        "x": 950.4945068359375,
                        "y": 3504.65625,
                        "z": 370.7399597167969
                    },
                    "rotation": {
                        "roll": -0.00012207681720610708,
                        "pitch": -0.16848710179328918,
                        "yaw": -80.83116149902344
                    }
                },
                "velocity": {
                    "x": 1.2841780185699463,
                    "y": -7.9561991691589355,
                    "z": -0.025212163105607033
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076905250549316,
                "transform": {
                    "location": {
                        "x": 953.4345092773438,
                        "y": 3465.945556640625,
                        "z": 370.6087341308594
                    },
                    "rotation": {
                        "roll": 1.7582555301487446e-05,
                        "pitch": -0.240108460187912,
                        "yaw": -80.8477554321289
                    }
                },
                "velocity": {
                    "x": 1.2829694747924805,
                    "y": -7.974289417266846,
                    "z": -0.033296771347522736
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031062126159668,
                "transform": {
                    "location": {
                        "x": 957.1702880859375,
                        "y": 3463.18359375,
                        "z": 370.6244201660156
                    },
                    "rotation": {
                        "roll": 0.0009205240639857948,
                        "pitch": -0.2584816515445709,
                        "yaw": -80.84028625488281
                    }
                },
                "velocity": {
                    "x": 1.2767044305801392,
                    "y": -7.928851127624512,
                    "z": -0.03610559552907944
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.4418334960938,
                        "y": 3401.316162109375,
                        "z": 370.2098693847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.9976196289062,
                        "y": 3416.50390625,
                        "z": 370.32440185546875
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.881380081176758,
                "transform": {
                    "location": {
                        "x": 942.1641235351562,
                        "y": 3493.809326171875,
                        "z": 370.7151794433594
                    },
                    "rotation": {
                        "roll": 0.0006434888346120715,
                        "pitch": 0.19398419559001923,
                        "yaw": 99.1380844116211
                    }
                },
                "velocity": {
                    "x": -1.2516615390777588,
                    "y": 7.781307220458984,
                    "z": 0.02745244838297367
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999269962310791,
                "transform": {
                    "location": {
                        "x": 939.3473510742188,
                        "y": 3511.309326171875,
                        "z": 370.7785949707031
                    },
                    "rotation": {
                        "roll": 5.4741769417887554e-05,
                        "pitch": 0.1576680839061737,
                        "yaw": 99.14459228515625
                    }
                },
                "velocity": {
                    "x": -1.2728540897369385,
                    "y": 7.897322177886963,
                    "z": 0.02148362062871456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.908935546875,
                        "y": 3385.9873046875,
                        "z": 370.06549072265625
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.0714111328125,
                        "y": 3434.6865234375,
                        "z": 370.4460144042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.246309280395508,
                "transform": {
                    "location": {
                        "x": 951.429443359375,
                        "y": 3456.686279296875,
                        "z": 370.5648498535156
                    },
                    "rotation": {
                        "roll": 9.687744750408456e-05,
                        "pitch": 0.23653626441955566,
                        "yaw": 99.13484954833984
                    }
                },
                "velocity": {
                    "x": -2.4210398197174072,
                    "y": 15.05270004272461,
                    "z": 0.06871185451745987
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.573437690734863,
                "transform": {
                    "location": {
                        "x": 947.7496948242188,
                        "y": 3479.54638671875,
                        "z": 370.6644592285156
                    },
                    "rotation": {
                        "roll": -0.0002136177645297721,
                        "pitch": 0.16997608542442322,
                        "yaw": 99.14253997802734
                    }
                },
                "velocity": {
                    "x": -2.4744338989257812,
                    "y": 15.375469207763672,
                    "z": 0.06389474868774414
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0000271797180176,
        "expert_target_speed": 0.0,
        "target_point": [
            31.61218322135353,
            3.1176270001201054
        ],
        "target_point_next": [
            57.87178983164663,
            3.2813519511064158
        ]
    },
    "320": {
        "acceleration": [
            -0.9150409698486328,
            -0.7534217834472656,
            -0.024544894695281982
        ],
        "angular_velocity": [
            0.03496558591723442,
            0.9476629495620728,
            4.356449604034424
        ],
        "forward_vector": [
            -0.16324302554130554,
            0.9865854978561401,
            0.0008579490822739899
        ],
        "right_vector": [
            -0.9865834712982178,
            -0.16324447095394135,
            0.002035184996202588
        ],
        "location": [
            941.5389404296875,
            3516.7216796875,
            370.7848815917969
        ],
        "rotation": [
            -0.11660763621330261,
            0.04915686696767807,
            99.39518737792969
        ],
        "velocity": [
            -2.552659749984741,
            15.292905807495117,
            0.041356801986694336
        ],
        "speed": 15.504484507267891,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.154898643493652,
                "transform": {
                    "location": {
                        "x": 940.0287475585938,
                        "y": 3549.1064453125,
                        "z": 370.8606262207031
                    },
                    "rotation": {
                        "roll": 0.0043093361891806126,
                        "pitch": -0.009951584972441196,
                        "yaw": -80.5815200805664
                    }
                },
                "velocity": {
                    "x": 1.3320202827453613,
                    "y": -8.045368194580078,
                    "z": -0.01206077542155981
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.716415405273438,
                "transform": {
                    "location": {
                        "x": 943.9398193359375,
                        "y": 3545.289306640625,
                        "z": 370.8547668457031
                    },
                    "rotation": {
                        "roll": 0.004117839504033327,
                        "pitch": 0.1899338960647583,
                        "yaw": -80.53939056396484
                    }
                },
                "velocity": {
                    "x": 1.415614128112793,
                    "y": -8.600683212280273,
                    "z": -0.013635901734232903
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.077064514160156,
                "transform": {
                    "location": {
                        "x": 947.0004272460938,
                        "y": 3505.915283203125,
                        "z": 370.75982666015625
                    },
                    "rotation": {
                        "roll": -0.0003967263037338853,
                        "pitch": -0.16900619864463806,
                        "yaw": -80.82951354980469
                    }
                },
                "velocity": {
                    "x": 1.2871781587600708,
                    "y": -7.9738078117370605,
                    "z": -0.023188484832644463
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.033207893371582,
                "transform": {
                    "location": {
                        "x": 950.8150024414062,
                        "y": 3502.669921875,
                        "z": 370.73370361328125
                    },
                    "rotation": {
                        "roll": -0.00033569481456652284,
                        "pitch": -0.18261875212192535,
                        "yaw": -80.83638000488281
                    }
                },
                "velocity": {
                    "x": 1.2793238162994385,
                    "y": -7.930644512176514,
                    "z": -0.025172805413603783
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.075480461120605,
                "transform": {
                    "location": {
                        "x": 953.7554321289062,
                        "y": 3463.95263671875,
                        "z": 370.6000671386719
                    },
                    "rotation": {
                        "roll": -3.0522700399160385e-05,
                        "pitch": -0.2521364092826843,
                        "yaw": -80.87317657470703
                    }
                },
                "velocity": {
                    "x": 1.2821094989776611,
                    "y": -7.97298002243042,
                    "z": -0.03432820364832878
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031754493713379,
                "transform": {
                    "location": {
                        "x": 957.4895629882812,
                        "y": 3461.201171875,
                        "z": 370.6153564453125
                    },
                    "rotation": {
                        "roll": 0.001069428981281817,
                        "pitch": -0.2578737735748291,
                        "yaw": -80.86957550048828
                    }
                },
                "velocity": {
                    "x": 1.2765804529190063,
                    "y": -7.929568290710449,
                    "z": -0.037188366055488586
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.8367919921875,
                        "y": 3405.076171875,
                        "z": 370.2408447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3948974609375,
                        "y": 3420.249267578125,
                        "z": 370.35009765625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.741532325744629,
                "transform": {
                    "location": {
                        "x": 941.8551635742188,
                        "y": 3495.72998046875,
                        "z": 370.72186279296875
                    },
                    "rotation": {
                        "roll": -0.00033570145023986697,
                        "pitch": 0.1807609498500824,
                        "yaw": 99.1382064819336
                    }
                },
                "velocity": {
                    "x": -1.229472041130066,
                    "y": 7.6432366371154785,
                    "z": 0.02554374560713768
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.345043182373047,
                "transform": {
                    "location": {
                        "x": 939.0250854492188,
                        "y": 3513.310791015625,
                        "z": 370.7844543457031
                    },
                    "rotation": {
                        "roll": 0.0001090298464987427,
                        "pitch": 0.1313786804676056,
                        "yaw": 99.14613342285156
                    }
                },
                "velocity": {
                    "x": -1.32646906375885,
                    "y": 8.238917350769043,
                    "z": 0.021614741533994675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.3017578125,
                        "y": 3389.760009765625,
                        "z": 370.10369873046875
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.4713134765625,
                        "y": 3438.41552734375,
                        "z": 370.4686584472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.90382194519043,
                "transform": {
                    "location": {
                        "x": 950.8313598632812,
                        "y": 3460.405517578125,
                        "z": 370.5813903808594
                    },
                    "rotation": {
                        "roll": 8.0115205491893e-05,
                        "pitch": 0.21409226953983307,
                        "yaw": 99.1319808959961
                    }
                },
                "velocity": {
                    "x": -2.365673303604126,
                    "y": 14.714719772338867,
                    "z": 0.06728866696357727
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.24797248840332,
                "transform": {
                    "location": {
                        "x": 947.1368408203125,
                        "y": 3483.35595703125,
                        "z": 370.67987060546875
                    },
                    "rotation": {
                        "roll": 0.0008229676750488579,
                        "pitch": 0.1613905280828476,
                        "yaw": 99.13673400878906
                    }
                },
                "velocity": {
                    "x": -2.421471357345581,
                    "y": 15.054354667663574,
                    "z": 0.059455506503582
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9998024702072144,
        "expert_target_speed": 0.0,
        "target_point": [
            27.74675188275946,
            2.8014471890702417
        ],
        "target_point_next": [
            54.006613519278375,
            2.6856369226563306
        ]
    },
    "325": {
        "acceleration": [
            -1.3196563720703125,
            -0.7543373107910156,
            0.01143231987953186
        ],
        "angular_velocity": [
            -0.03147527202963829,
            0.7289496064186096,
            5.632609844207764
        ],
        "forward_vector": [
            -0.18568898737430573,
            0.982607364654541,
            0.0015308849979192019
        ],
        "right_vector": [
            -0.9825905561447144,
            -0.18569479882717133,
            0.005767302121967077
        ],
        "location": [
            940.866455078125,
            3520.521728515625,
            370.79522705078125
        ],
        "rotation": [
            -0.3304443061351776,
            0.08771328628063202,
            100.7013168334961
        ],
        "velocity": [
            -2.85101580619812,
            15.107173919677734,
            0.04134678840637207
        ],
        "speed": 15.37384125606163,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 78.96207427978516,
        "front_vehicle_info": {
            "id": 4080,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                881.3045043945312,
                3572.357666015625,
                371.4423828125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "211,142,0"
        },
        "other_vehicles": [
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.6014404296875,
                        "y": 3627.64501953125,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 881.3045043945312,
                        "y": 3572.357666015625,
                        "z": 371.4423828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3544867932796478,
                        "yaw": 9.140239715576172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.392822265625,
                        "y": 3627.128662109375,
                        "z": 370.8917236328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 985.0018310546875,
                        "y": 3586.337158203125,
                        "z": 370.3523254394531
                    },
                    "rotation": {
                        "roll": 6.670620056326015e-09,
                        "pitch": 0.7109543681144714,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.8320922851562,
                        "y": 3390.865478515625,
                        "z": 370.1928405761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.5491333007812,
                        "y": 3375.795166015625,
                        "z": 369.9659423828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 925.411376953125,
                        "y": 3618.98486328125,
                        "z": 371.05206298828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 922.0704345703125,
                        "y": 3619.29052734375,
                        "z": 371.0162658691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.822287559509277,
                "transform": {
                    "location": {
                        "x": 940.3490600585938,
                        "y": 3547.15771484375,
                        "z": 370.85736083984375
                    },
                    "rotation": {
                        "roll": 0.007519503589719534,
                        "pitch": -0.12752646207809448,
                        "yaw": -80.68917083740234
                    }
                },
                "velocity": {
                    "x": 1.262292742729187,
                    "y": -7.71975564956665,
                    "z": -0.013059882447123528
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.184799194335938,
                "transform": {
                    "location": {
                        "x": 944.2815551757812,
                        "y": 3543.212646484375,
                        "z": 370.8544006347656
                    },
                    "rotation": {
                        "roll": 0.005386298056691885,
                        "pitch": -0.20260389149188995,
                        "yaw": -80.64024353027344
                    }
                },
                "velocity": {
                    "x": 1.3201987743377686,
                    "y": -8.077611923217773,
                    "z": -0.014010362327098846
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996931552886963,
                "transform": {
                    "location": {
                        "x": 947.3201904296875,
                        "y": 3503.932373046875,
                        "z": 370.7539367675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.16687516868114471,
                        "yaw": -80.83844757080078
                    }
                },
                "velocity": {
                    "x": 1.273099422454834,
                    "y": -7.894904613494873,
                    "z": -0.024838756769895554
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07161808013916,
                "transform": {
                    "location": {
                        "x": 951.135498046875,
                        "y": 3500.68212890625,
                        "z": 370.7271728515625
                    },
                    "rotation": {
                        "roll": -9.155437146546319e-05,
                        "pitch": -0.18899132311344147,
                        "yaw": -80.8421401977539
                    }
                },
                "velocity": {
                    "x": 1.2830017805099487,
                    "y": -7.968955993652344,
                    "z": -0.02587880566716194
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078313827514648,
                "transform": {
                    "location": {
                        "x": 954.075927734375,
                        "y": 3461.959228515625,
                        "z": 370.59136962890625
                    },
                    "rotation": {
                        "roll": 7.916164759080857e-05,
                        "pitch": -0.26180797815322876,
                        "yaw": -80.84752655029297
                    }
                },
                "velocity": {
                    "x": 1.28323495388031,
                    "y": -7.975658893585205,
                    "z": -0.03631018102169037
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028786659240723,
                "transform": {
                    "location": {
                        "x": 957.8082885742188,
                        "y": 3459.2197265625,
                        "z": 370.6063537597656
                    },
                    "rotation": {
                        "roll": 0.0006767558516003191,
                        "pitch": -0.25768935680389404,
                        "yaw": -80.84721374511719
                    }
                },
                "velocity": {
                    "x": 1.275395393371582,
                    "y": -7.926753997802734,
                    "z": -0.03686188533902168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.45263671875,
                        "y": 3407.463623046875,
                        "z": 370.2592468261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.0112915039062,
                        "y": 3422.63330078125,
                        "z": 370.3664245605469
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9929986000061035,
                "transform": {
                    "location": {
                        "x": 941.543701171875,
                        "y": 3497.665771484375,
                        "z": 370.7281799316406
                    },
                    "rotation": {
                        "roll": -0.00045775860780850053,
                        "pitch": 0.19196245074272156,
                        "yaw": 99.13935852050781
                    }
                },
                "velocity": {
                    "x": -1.2703125476837158,
                    "y": 7.891367435455322,
                    "z": 0.025433653965592384
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.388287544250488,
                "transform": {
                    "location": {
                        "x": 938.686767578125,
                        "y": 3515.411865234375,
                        "z": 370.7901611328125
                    },
                    "rotation": {
                        "roll": -0.000488286605104804,
                        "pitch": 0.1413302719593048,
                        "yaw": 99.14627075195312
                    }
                },
                "velocity": {
                    "x": -1.3333219289779663,
                    "y": 8.281614303588867,
                    "z": 0.021849116310477257
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.9169921875,
                        "y": 3392.15087890625,
                        "z": 370.1267395019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.0882568359375,
                        "y": 3440.796142578125,
                        "z": 370.48272705078125
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.903824806213379,
                "transform": {
                    "location": {
                        "x": 950.2553100585938,
                        "y": 3463.988037109375,
                        "z": 370.5973205566406
                    },
                    "rotation": {
                        "roll": -0.0005798335187137127,
                        "pitch": 0.11669377237558365,
                        "yaw": 99.13479614257812
                    }
                },
                "velocity": {
                    "x": -2.2089171409606934,
                    "y": 13.727104187011719,
                    "z": 0.06021643429994583
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.339463233947754,
                "transform": {
                    "location": {
                        "x": 946.545654296875,
                        "y": 3487.031494140625,
                        "z": 370.6943359375
                    },
                    "rotation": {
                        "roll": 0.0008363400120288134,
                        "pitch": 0.05639003962278366,
                        "yaw": 99.13648223876953
                    }
                },
                "velocity": {
                    "x": -2.276951313018799,
                    "y": 14.157426834106445,
                    "z": 0.05426584184169769
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9994181394577026,
        "expert_target_speed": 0.0,
        "target_point": [
            23.944565196535887,
            2.2130985086434345
        ],
        "target_point_next": [
            50.194964338073525,
            1.4987525862184903
        ]
    },
    "330": {
        "acceleration": [
            -1.299605369567871,
            -1.2214851379394531,
            0.003173425793647766
        ],
        "angular_velocity": [
            -0.2242843508720398,
            0.29599729180336,
            5.716240406036377
        ],
        "forward_vector": [
            -0.21006840467453003,
            0.9776855111122131,
            0.001501917140558362
        ],
        "right_vector": [
            -0.9776523113250732,
            -0.21007364988327026,
            0.008060759864747524
        ],
        "location": [
            940.1136474609375,
            3524.272216796875,
            370.8052673339844
        ],
        "rotation": [
            -0.4618530571460724,
            0.08605355024337769,
            102.12637329101562
        ],
        "velocity": [
            -3.1875784397125244,
            14.876082420349121,
            0.0406508632004261
        ],
        "speed": 15.213759709103476,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 74.60264587402344,
        "front_vehicle_info": {
            "id": 4080,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                883.3580932617188,
                3572.68798828125,
                371.330078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "211,142,0"
        },
        "other_vehicles": [
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.932373046875,
                        "y": 3625.587646484375,
                        "z": 370.8860778808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 883.3580932617188,
                        "y": 3572.68798828125,
                        "z": 371.330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3544867932796478,
                        "yaw": 9.140239715576172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.7237548828125,
                        "y": 3625.0712890625,
                        "z": 370.88616943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 982.9456787109375,
                        "y": 3586.002197265625,
                        "z": 370.37255859375
                    },
                    "rotation": {
                        "roll": 6.670620056326015e-09,
                        "pitch": 0.7109543681144714,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.5011596679688,
                        "y": 3392.921875,
                        "z": 370.1726379394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.21826171875,
                        "y": 3377.8515625,
                        "z": 369.98345947265625
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 925.2130126953125,
                        "y": 3620.217041015625,
                        "z": 370.9983825683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.9381713867188,
                        "y": 3620.112060546875,
                        "z": 370.98052978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.186809539794922,
                "transform": {
                    "location": {
                        "x": 940.6724853515625,
                        "y": 3545.1767578125,
                        "z": 370.8541564941406
                    },
                    "rotation": {
                        "roll": 0.003070664359256625,
                        "pitch": -0.04352196305990219,
                        "yaw": -80.71659851074219
                    }
                },
                "velocity": {
                    "x": 1.3186309337615967,
                    "y": -8.07990550994873,
                    "z": -0.013947276398539543
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.90154504776001,
                "transform": {
                    "location": {
                        "x": 944.6038818359375,
                        "y": 3541.239013671875,
                        "z": 370.85089111328125
                    },
                    "rotation": {
                        "roll": 0.007313739974051714,
                        "pitch": -0.23571664094924927,
                        "yaw": -80.77738189697266
                    }
                },
                "velocity": {
                    "x": 1.2651503086090088,
                    "y": -7.799591541290283,
                    "z": -0.013500184752047062
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063973426818848,
                "transform": {
                    "location": {
                        "x": 947.6396484375,
                        "y": 3501.950439453125,
                        "z": 370.7476501464844
                    },
                    "rotation": {
                        "roll": 0.0001477636251365766,
                        "pitch": -0.18459951877593994,
                        "yaw": -80.84453582763672
                    }
                },
                "velocity": {
                    "x": 1.282987356185913,
                    "y": -7.961214542388916,
                    "z": -0.025932006537914276
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020800590515137,
                "transform": {
                    "location": {
                        "x": 951.4554443359375,
                        "y": 3498.69677734375,
                        "z": 370.7206115722656
                    },
                    "rotation": {
                        "roll": 0.0001470432907808572,
                        "pitch": -0.18780970573425293,
                        "yaw": -80.8451919555664
                    }
                },
                "velocity": {
                    "x": 1.276174545288086,
                    "y": -7.918586730957031,
                    "z": -0.02461966872215271
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.077824592590332,
                "transform": {
                    "location": {
                        "x": 954.3969116210938,
                        "y": 3459.96484375,
                        "z": 370.5821838378906
                    },
                    "rotation": {
                        "roll": 4.998628719476983e-05,
                        "pitch": -0.25908955931663513,
                        "yaw": -80.87452697753906
                    }
                },
                "velocity": {
                    "x": 1.2819263935089111,
                    "y": -7.97537088394165,
                    "z": -0.037095390260219574
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031405448913574,
                "transform": {
                    "location": {
                        "x": 958.1273193359375,
                        "y": 3457.2373046875,
                        "z": 370.5973205566406
                    },
                    "rotation": {
                        "roll": 0.0019356844713911414,
                        "pitch": -0.2578122913837433,
                        "yaw": -80.87531280517578
                    }
                },
                "velocity": {
                    "x": 1.274031400680542,
                    "y": -7.929622650146484,
                    "z": -0.03754028305411339
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.1217041015625,
                        "y": 3409.52001953125,
                        "z": 370.2751770019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.680419921875,
                        "y": 3424.689697265625,
                        "z": 370.3805236816406
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.162256240844727,
                "transform": {
                    "location": {
                        "x": 941.2213745117188,
                        "y": 3499.6689453125,
                        "z": 370.73480224609375
                    },
                    "rotation": {
                        "roll": -9.156106534646824e-05,
                        "pitch": 0.19142286479473114,
                        "yaw": 99.14108276367188
                    }
                },
                "velocity": {
                    "x": -1.296665906906128,
                    "y": 8.058562278747559,
                    "z": 0.025511359795928
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.24859619140625,
                "transform": {
                    "location": {
                        "x": 938.36474609375,
                        "y": 3517.412353515625,
                        "z": 370.7947998046875
                    },
                    "rotation": {
                        "roll": -0.0007019013282842934,
                        "pitch": 0.23724660277366638,
                        "yaw": 99.1449966430664
                    }
                },
                "velocity": {
                    "x": -1.1501553058624268,
                    "y": 7.156734943389893,
                    "z": 0.020854663103818893
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.5860595703125,
                        "y": 3394.20703125,
                        "z": 370.146484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.75732421875,
                        "y": 3442.8525390625,
                        "z": 370.49444580078125
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.305184364318848,
                "transform": {
                    "location": {
                        "x": 949.7365112304688,
                        "y": 3467.2138671875,
                        "z": 370.6109313964844
                    },
                    "rotation": {
                        "roll": -0.00021362307597883046,
                        "pitch": 0.012342151254415512,
                        "yaw": 99.12891387939453
                    }
                },
                "velocity": {
                    "x": -1.9530075788497925,
                    "y": 12.149100303649902,
                    "z": 0.05179762840270996
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.936241149902344,
                "transform": {
                    "location": {
                        "x": 946.0043334960938,
                        "y": 3490.3974609375,
                        "z": 370.706787109375
                    },
                    "rotation": {
                        "roll": -0.00027465837774798274,
                        "pitch": -0.045250002294778824,
                        "yaw": 99.13693237304688
                    }
                },
                "velocity": {
                    "x": -2.0541231632232666,
                    "y": 12.772026062011719,
                    "z": 0.04750658944249153
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9972483515739441,
        "expert_target_speed": 5.320417800741914,
        "target_point": [
            20.16725437455241,
            1.668773934271651
        ],
        "target_point_next": [
            46.391769002869474,
            0.30181464588387463
        ]
    },
    "335": {
        "acceleration": [
            -1.1719417572021484,
            -1.5754318237304688,
            -0.019926205277442932
        ],
        "angular_velocity": [
            -0.17100659012794495,
            0.14751462638378143,
            5.664146423339844
        ],
        "forward_vector": [
            -0.23430068790912628,
            0.9721639156341553,
            0.0007158516673371196
        ],
        "right_vector": [
            -0.9721230864524841,
            -0.2342974841594696,
            0.009023196063935757
        ],
        "location": [
            939.281982421875,
            3527.942138671875,
            370.8149108886719
        ],
        "rotation": [
            -0.5169981718063354,
            0.04101528227329254,
            103.55040740966797
        ],
        "velocity": [
            -3.487813711166382,
            14.487911224365234,
            0.036555491387844086
        ],
        "speed": 14.901825932713358,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 70.24146270751953,
        "front_vehicle_info": {
            "id": 4080,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                885.4135131835938,
                3573.01806640625,
                371.27447509765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "211,142,0"
        },
        "other_vehicles": [
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.263671875,
                        "y": 3623.530517578125,
                        "z": 370.8819885253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 885.4135131835938,
                        "y": 3573.01806640625,
                        "z": 371.27447509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3704147934913635,
                        "yaw": 9.140238761901855
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.0550537109375,
                        "y": 3623.013916015625,
                        "z": 370.8819885253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 980.8893432617188,
                        "y": 3585.666748046875,
                        "z": 370.39398193359375
                    },
                    "rotation": {
                        "roll": 6.670620056326015e-09,
                        "pitch": 0.7109543681144714,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.1702270507812,
                        "y": 3394.97802734375,
                        "z": 370.1603698730469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.8873291015625,
                        "y": 3379.90771484375,
                        "z": 370.00091552734375
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 925.0807495117188,
                        "y": 3621.038330078125,
                        "z": 370.9626770019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.7398071289062,
                        "y": 3621.34423828125,
                        "z": 370.92694091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.009278297424316,
                "transform": {
                    "location": {
                        "x": 940.9987182617188,
                        "y": 3543.173095703125,
                        "z": 370.8509216308594
                    },
                    "rotation": {
                        "roll": 0.003369143232703209,
                        "pitch": -0.10607283562421799,
                        "yaw": -80.76930236816406
                    }
                },
                "velocity": {
                    "x": 1.2832744121551514,
                    "y": -7.905792713165283,
                    "z": -0.013517646118998528
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.088286399841309,
                "transform": {
                    "location": {
                        "x": 944.9232788085938,
                        "y": 3539.269287109375,
                        "z": 370.8458557128906
                    },
                    "rotation": {
                        "roll": 0.0026082750409841537,
                        "pitch": -0.08965989202260971,
                        "yaw": -80.79582977294922
                    }
                },
                "velocity": {
                    "x": 1.2926428318023682,
                    "y": -7.984310150146484,
                    "z": -0.015718583017587662
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006068229675293,
                "transform": {
                    "location": {
                        "x": 947.9591674804688,
                        "y": 3499.967041015625,
                        "z": 370.7411193847656
                    },
                    "rotation": {
                        "roll": -0.00030517237610183656,
                        "pitch": -0.18844491243362427,
                        "yaw": -80.84815216064453
                    }
                },
                "velocity": {
                    "x": 1.2733336687088013,
                    "y": -7.904118061065674,
                    "z": -0.02582097426056862
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.078866958618164,
                "transform": {
                    "location": {
                        "x": 951.7755737304688,
                        "y": 3496.709228515625,
                        "z": 370.7140197753906
                    },
                    "rotation": {
                        "roll": 0.0006642327061854303,
                        "pitch": -0.18666906654834747,
                        "yaw": -80.85057830810547
                    }
                },
                "velocity": {
                    "x": 1.2846440076828003,
                    "y": -7.976033687591553,
                    "z": -0.0258079431951046
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.7077026367188,
                        "y": 3457.956787109375,
                        "z": 370.5724792480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2749629020690918,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.3673706054688,
                        "y": 3455.1845703125,
                        "z": 370.5577392578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2749629020690918,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.7907104492188,
                        "y": 3411.576416015625,
                        "z": 370.2900695800781
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.349365234375,
                        "y": 3426.74609375,
                        "z": 370.3944091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043712615966797,
                "transform": {
                    "location": {
                        "x": 940.899658203125,
                        "y": 3501.6689453125,
                        "z": 370.7412109375
                    },
                    "rotation": {
                        "roll": -0.00039671987178735435,
                        "pitch": 0.1801803857088089,
                        "yaw": 99.14126586914062
                    }
                },
                "velocity": {
                    "x": -1.2778769731521606,
                    "y": 7.9415178298950195,
                    "z": 0.025181159377098083
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.323936939239502,
                "transform": {
                    "location": {
                        "x": 938.1055908203125,
                        "y": 3519.021240234375,
                        "z": 370.79925537109375
                    },
                    "rotation": {
                        "roll": -6.1032071243971586e-05,
                        "pitch": 0.25378933548927307,
                        "yaw": 99.12454223632812
                    }
                },
                "velocity": {
                    "x": -1.0049457550048828,
                    "y": 6.2435526847839355,
                    "z": 0.01764843985438347
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.255126953125,
                        "y": 3396.263427734375,
                        "z": 370.16546630859375
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.4263916015625,
                        "y": 3444.908935546875,
                        "z": 370.5060729980469
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.42615032196045,
                "transform": {
                    "location": {
                        "x": 949.2796630859375,
                        "y": 3470.05517578125,
                        "z": 370.6227111816406
                    },
                    "rotation": {
                        "roll": 2.1802919945912436e-05,
                        "pitch": -0.05584362521767616,
                        "yaw": 99.12799072265625
                    }
                },
                "velocity": {
                    "x": -1.6547046899795532,
                    "y": 10.293911933898926,
                    "z": 0.04418610408902168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.133050918579102,
                "transform": {
                    "location": {
                        "x": 945.5294799804688,
                        "y": 3493.349365234375,
                        "z": 370.717529296875
                    },
                    "rotation": {
                        "roll": -0.001403814647346735,
                        "pitch": -0.13757365942001343,
                        "yaw": 99.13994598388672
                    }
                },
                "velocity": {
                    "x": -1.769431471824646,
                    "y": 10.99146842956543,
                    "z": 0.03953004628419876
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9996711611747742,
        "expert_target_speed": 8.452520226183793,
        "target_point": [
            16.4398709126969,
            1.2184236402394553
        ],
        "target_point_next": [
            42.62231544008435,
            -0.7998290092581684
        ]
    },
    "340": {
        "acceleration": [
            -0.7314682006835938,
            -1.4113807678222656,
            -0.04633218050003052
        ],
        "angular_velocity": [
            -0.045277293771505356,
            -0.3377097249031067,
            4.0564680099487305
        ],
        "forward_vector": [
            -0.25544270873069763,
            0.9668241143226624,
            0.000339269608957693
        ],
        "right_vector": [
            -0.9667891263961792,
            -0.2554364502429962,
            0.008428271859884262
        ],
        "location": [
            938.38232421875,
            3531.515869140625,
            370.8240051269531
        ],
        "rotation": [
            -0.48291015625,
            0.019438717514276505,
            104.79981994628906
        ],
        "velocity": [
            -3.7192885875701904,
            14.116291999816895,
            0.03410445153713226
        ],
        "speed": 14.598041218660958,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 65.92850494384766,
        "front_vehicle_info": {
            "id": 4080,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                887.4306030273438,
                3573.3525390625,
                371.2521667480469
            ],
            "velocity": [
                8.116003036499023,
                1.3780765533447266,
                -0.07911234349012375
            ],
            "speed_kmh": 29.637175525604516,
            "color": "211,142,0"
        },
        "other_vehicles": [
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.5946655273438,
                        "y": 3621.47314453125,
                        "z": 370.88336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.232548713684082,
                "transform": {
                    "location": {
                        "x": 887.4306030273438,
                        "y": 3573.3525390625,
                        "z": 371.2521667480469
                    },
                    "rotation": {
                        "roll": -0.038543701171875,
                        "pitch": -0.3941018879413605,
                        "yaw": 9.473111152648926
                    }
                },
                "velocity": {
                    "x": 8.116003036499023,
                    "y": 1.3780765533447266,
                    "z": -0.07911234349012375
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.385986328125,
                        "y": 3620.956787109375,
                        "z": 370.88336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.024771690368652,
                "transform": {
                    "location": {
                        "x": 978.868896484375,
                        "y": 3585.334716796875,
                        "z": 370.4151916503906
                    },
                    "rotation": {
                        "roll": -0.004241936840116978,
                        "pitch": 0.6615515947341919,
                        "yaw": -170.62374877929688
                    }
                },
                "velocity": {
                    "x": -7.912436485290527,
                    "y": -1.336283564567566,
                    "z": 0.06825746595859528
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.8391723632812,
                        "y": 3397.03466796875,
                        "z": 370.17791748046875
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.5563354492188,
                        "y": 3381.96435546875,
                        "z": 370.0223083496094
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.8825073242188,
                        "y": 3622.271484375,
                        "z": 370.9090881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.6077270507812,
                        "y": 3622.16552734375,
                        "z": 370.8912353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.00107192993164,
                "transform": {
                    "location": {
                        "x": 941.317626953125,
                        "y": 3541.206787109375,
                        "z": 370.8472900390625
                    },
                    "rotation": {
                        "roll": 0.003028594423085451,
                        "pitch": -0.11437834054231644,
                        "yaw": -80.7769775390625
                    }
                },
                "velocity": {
                    "x": 1.2796202898025513,
                    "y": -7.898071765899658,
                    "z": -0.013584270142018795
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.147652626037598,
                "transform": {
                    "location": {
                        "x": 945.2484130859375,
                        "y": 3537.25830078125,
                        "z": 370.8414306640625
                    },
                    "rotation": {
                        "roll": 0.0022684282157570124,
                        "pitch": -0.07327426224946976,
                        "yaw": -80.84300231933594
                    }
                },
                "velocity": {
                    "x": 1.297186255455017,
                    "y": -8.043707847595215,
                    "z": -0.01763126254081726
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062575340270996,
                "transform": {
                    "location": {
                        "x": 948.278564453125,
                        "y": 3497.98388671875,
                        "z": 370.7345275878906
                    },
                    "rotation": {
                        "roll": -0.0003356882371008396,
                        "pitch": -0.18807607889175415,
                        "yaw": -80.85151672363281
                    }
                },
                "velocity": {
                    "x": 1.2818098068237305,
                    "y": -7.959989070892334,
                    "z": -0.025792978703975677
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02110481262207,
                "transform": {
                    "location": {
                        "x": 952.095458984375,
                        "y": 3494.72314453125,
                        "z": 370.70709228515625
                    },
                    "rotation": {
                        "roll": 0.0002880837128031999,
                        "pitch": -0.20345766842365265,
                        "yaw": -80.85091400146484
                    }
                },
                "velocity": {
                    "x": 1.2753881216049194,
                    "y": -7.919008731842041,
                    "z": -0.02836124785244465
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4067,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.9791870117188,
                        "y": 3455.89111328125,
                        "z": 370.5608215332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2749629020690918,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.6937255859375,
                        "y": 3453.12548828125,
                        "z": 370.5457763671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2941625714302063,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.4598388671875,
                        "y": 3413.6328125,
                        "z": 370.3045349121094
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.0184326171875,
                        "y": 3428.802490234375,
                        "z": 370.4082336425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.891733646392822,
                "transform": {
                    "location": {
                        "x": 940.581298828125,
                        "y": 3503.6474609375,
                        "z": 370.7474670410156
                    },
                    "rotation": {
                        "roll": 0.000999546144157648,
                        "pitch": 0.1626472920179367,
                        "yaw": 99.1414566040039
                    }
                },
                "velocity": {
                    "x": -1.253793716430664,
                    "y": 7.791460990905762,
                    "z": 0.024360256269574165
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.803349018096924,
                "transform": {
                    "location": {
                        "x": 937.84765625,
                        "y": 3520.626220703125,
                        "z": 370.8047180175781
                    },
                    "rotation": {
                        "roll": -0.00018310155428480357,
                        "pitch": 0.13000580668449402,
                        "yaw": 99.1602783203125
                    }
                },
                "velocity": {
                    "x": -1.0819116830825806,
                    "y": 6.716747760772705,
                    "z": 0.018123483285307884
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.9241943359375,
                        "y": 3398.319580078125,
                        "z": 370.1838073730469
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.0953979492188,
                        "y": 3446.96533203125,
                        "z": 370.5170593261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.520209312438965,
                "transform": {
                    "location": {
                        "x": 948.9076538085938,
                        "y": 3472.3671875,
                        "z": 370.6324462890625
                    },
                    "rotation": {
                        "roll": -0.0015563935739919543,
                        "pitch": -0.06637577712535858,
                        "yaw": 99.14293670654297
                    }
                },
                "velocity": {
                    "x": -1.3553825616836548,
                    "y": 8.411637306213379,
                    "z": 0.035596780478954315
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.21885871887207,
                "transform": {
                    "location": {
                        "x": 945.1193237304688,
                        "y": 3495.8974609375,
                        "z": 370.7263488769531
                    },
                    "rotation": {
                        "roll": -0.00027467685868032277,
                        "pitch": -0.2123095840215683,
                        "yaw": 99.14466857910156
                    }
                },
                "velocity": {
                    "x": -1.4661778211593628,
                    "y": 9.10146427154541,
                    "z": 0.03189906105399132
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.999328076839447,
        "expert_target_speed": 10.0,
        "target_point": [
            12.777549940165496,
            0.9027320070904943
        ],
        "target_point_next": [
            38.909760813997984,
            -1.685954925019308
        ]
    },
    "345": {
        "acceleration": [
            -0.045642852783203125,
            -0.7771682739257812,
            -0.027040839195251465
        ],
        "angular_velocity": [
            0.3280998766422272,
            -0.7888277769088745,
            0.936748743057251
        ],
        "forward_vector": [
            -0.2662268280982971,
            0.9639104008674622,
            0.00013959406351204962
        ],
        "right_vector": [
            -0.9638943076133728,
            -0.2662232220172882,
            0.005732689518481493
        ],
        "location": [
            937.4411010742188,
            3535.008056640625,
            370.8319091796875
        ],
        "rotation": [
            -0.328460693359375,
            0.007998150773346424,
            105.43986511230469
        ],
        "velocity": [
            -3.808314800262451,
            13.856083869934082,
            0.029182204976677895
        ],
        "speed": 14.3699102929888,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 61.656471252441406,
        "front_vehicle_info": {
            "id": 4080,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                889.4356689453125,
                3573.697021484375,
                371.23577880859375
            ],
            "velocity": [
                7.93149995803833,
                1.3749580383300781,
                -0.05853851139545441
            ],
            "speed_kmh": 28.980028609665936,
            "color": "211,142,0"
        },
        "other_vehicles": [
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.92578125,
                        "y": 3619.415771484375,
                        "z": 370.88470458984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050007820129395,
                "transform": {
                    "location": {
                        "x": 889.4356689453125,
                        "y": 3573.697021484375,
                        "z": 371.23577880859375
                    },
                    "rotation": {
                        "roll": -0.02862548828125,
                        "pitch": -0.3809196352958679,
                        "yaw": 9.773015022277832
                    }
                },
                "velocity": {
                    "x": 7.93149995803833,
                    "y": 1.3749580383300781,
                    "z": -0.05853851139545441
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.7171020507812,
                        "y": 3618.8994140625,
                        "z": 370.88470458984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.094124794006348,
                "transform": {
                    "location": {
                        "x": 976.88232421875,
                        "y": 3584.996826171875,
                        "z": 370.43505859375
                    },
                    "rotation": {
                        "roll": -0.00021363106498029083,
                        "pitch": 0.6615857481956482,
                        "yaw": -170.20895385742188
                    }
                },
                "velocity": {
                    "x": -7.973275184631348,
                    "y": -1.3906126022338867,
                    "z": 0.0890878438949585
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.5082397460938,
                        "y": 3399.0908203125,
                        "z": 370.1955261230469
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.2254638671875,
                        "y": 3384.0205078125,
                        "z": 370.04443359375
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.750244140625,
                        "y": 3623.09375,
                        "z": 370.8909606933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.092095375061035,
                "transform": {
                    "location": {
                        "x": 941.6398315429688,
                        "y": 3539.21533203125,
                        "z": 370.8434753417969
                    },
                    "rotation": {
                        "roll": 0.0024038872215896845,
                        "pitch": -0.10622992366552353,
                        "yaw": -80.82334899902344
                    }
                },
                "velocity": {
                    "x": 1.2905793190002441,
                    "y": -7.988500118255615,
                    "z": -0.01685064285993576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.045866012573242,
                "transform": {
                    "location": {
                        "x": 945.5701904296875,
                        "y": 3535.26171875,
                        "z": 370.8377990722656
                    },
                    "rotation": {
                        "roll": 0.0012505752965807915,
                        "pitch": -0.14193814992904663,
                        "yaw": -80.83148193359375
                    }
                },
                "velocity": {
                    "x": 1.2803312540054321,
                    "y": -7.943324565887451,
                    "z": -0.017521219328045845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00500774383545,
                "transform": {
                    "location": {
                        "x": 948.5977172851562,
                        "y": 3496.00146484375,
                        "z": 370.7279357910156
                    },
                    "rotation": {
                        "roll": -0.0003967267111875117,
                        "pitch": -0.1877823770046234,
                        "yaw": -80.85691833496094
                    }
                },
                "velocity": {
                    "x": 1.2703802585601807,
                    "y": -7.903517723083496,
                    "z": -0.026191582903265953
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076470375061035,
                "transform": {
                    "location": {
                        "x": 952.4151611328125,
                        "y": 3492.736083984375,
                        "z": 370.6998596191406
                    },
                    "rotation": {
                        "roll": 0.00041563043487258255,
                        "pitch": -0.2085256576538086,
                        "yaw": -80.85920715332031
                    }
                },
                "velocity": {
                    "x": 1.283130407333374,
                    "y": -7.973836421966553,
                    "z": -0.029579652473330498
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.1287841796875,
                        "y": 3415.68896484375,
                        "z": 370.3188171386719
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.6875,
                        "y": 3430.858642578125,
                        "z": 370.421630859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.724274158477783,
                "transform": {
                    "location": {
                        "x": 940.2908325195312,
                        "y": 3505.452392578125,
                        "z": 370.7529296875
                    },
                    "rotation": {
                        "roll": 0.0006574678118340671,
                        "pitch": 0.1445746123790741,
                        "yaw": 99.14215850830078
                    }
                },
                "velocity": {
                    "x": -1.0689618587493896,
                    "y": 6.638733863830566,
                    "z": 0.019922437146306038
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.053325653076172,
                "transform": {
                    "location": {
                        "x": 937.5617065429688,
                        "y": 3522.39892578125,
                        "z": 370.81011962890625
                    },
                    "rotation": {
                        "roll": 0.0005908064777031541,
                        "pitch": 0.04081720858812332,
                        "yaw": 99.1045150756836
                    }
                },
                "velocity": {
                    "x": -1.2807841300964355,
                    "y": 7.95080041885376,
                    "z": 0.020319538190960884
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.5932006835938,
                        "y": 3400.376220703125,
                        "z": 370.20208740234375
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.7645263671875,
                        "y": 3449.021728515625,
                        "z": 370.5281066894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.712564945220947,
                "transform": {
                    "location": {
                        "x": 948.5901489257812,
                        "y": 3474.336181640625,
                        "z": 370.6408386230469
                    },
                    "rotation": {
                        "roll": -0.0014038081280887127,
                        "pitch": 0.06479117274284363,
                        "yaw": 99.1675796508789
                    }
                },
                "velocity": {
                    "x": -1.2286444902420044,
                    "y": 7.613999366760254,
                    "z": 0.033200398087501526
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.68687629699707,
                "transform": {
                    "location": {
                        "x": 944.7899780273438,
                        "y": 3497.9443359375,
                        "z": 370.7331848144531
                    },
                    "rotation": {
                        "roll": 0.0008622946334071457,
                        "pitch": -0.15848086774349213,
                        "yaw": 99.14368438720703
                    }
                },
                "velocity": {
                    "x": -1.2214735746383667,
                    "y": 7.589169025421143,
                    "z": 0.024165697395801544
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.000076413154602,
        "expert_target_speed": 10.0,
        "target_point": [
            9.170101878580919,
            0.7824047878446319
        ],
        "target_point_next": [
            35.27176569177784,
            -2.0980277091550636
        ]
    },
    "350": {
        "acceleration": [
            0.939631462097168,
            -1.0623359680175781,
            -0.0018785521388053894
        ],
        "angular_velocity": [
            0.17705093324184418,
            -1.0318546295166016,
            -2.9957664012908936
        ],
        "forward_vector": [
            -0.26010647416114807,
            0.9655798673629761,
            0.00030982491443865
        ],
        "right_vector": [
            -0.9655795097351074,
            -0.2601066529750824,
            0.0008319713524542749
        ],
        "location": [
            936.5059204101562,
            3538.447998046875,
            370.83892822265625
        ],
        "rotation": [
            -0.04766845703125,
            0.01775166019797325,
            105.07638549804688
        ],
        "velocity": [
            -3.6544413566589355,
            13.6495943069458,
            0.029341621324419975
        ],
        "speed": 14.130334970320641,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 86.69905853271484,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8876037597656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.2562255859375,
                        "y": 3617.361572265625,
                        "z": 370.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.23635196685791,
                "transform": {
                    "location": {
                        "x": 891.4432373046875,
                        "y": 3574.04052734375,
                        "z": 371.2218322753906
                    },
                    "rotation": {
                        "roll": 0.006486197933554649,
                        "pitch": -0.3761521577835083,
                        "yaw": 9.678818702697754
                    }
                },
                "velocity": {
                    "x": 8.12069034576416,
                    "y": 1.3743447065353394,
                    "z": -0.05538501217961311
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 929.047607421875,
                        "y": 3616.84521484375,
                        "z": 370.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.93504524230957,
                "transform": {
                    "location": {
                        "x": 974.9090576171875,
                        "y": 3584.654541015625,
                        "z": 370.4580078125
                    },
                    "rotation": {
                        "roll": 0.007551769260317087,
                        "pitch": 0.6668723225593567,
                        "yaw": -170.00379943847656
                    }
                },
                "velocity": {
                    "x": -7.818338394165039,
                    "y": -1.3528105020523071,
                    "z": 0.09183286130428314
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.1773071289062,
                        "y": 3401.147216796875,
                        "z": 370.2127990722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.89453125,
                        "y": 3386.076904296875,
                        "z": 370.0662841796875
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.009878158569336,
                "transform": {
                    "location": {
                        "x": 941.960693359375,
                        "y": 3537.229248046875,
                        "z": 370.8392639160156
                    },
                    "rotation": {
                        "roll": 0.0006253707106225193,
                        "pitch": -0.12764939665794373,
                        "yaw": -80.81163024902344
                    }
                },
                "velocity": {
                    "x": 1.2770482301712036,
                    "y": -7.9074015617370605,
                    "z": -0.017118167132139206
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.055466651916504,
                "transform": {
                    "location": {
                        "x": 945.89013671875,
                        "y": 3533.27734375,
                        "z": 370.83319091796875
                    },
                    "rotation": {
                        "roll": 0.00017373009177390486,
                        "pitch": -0.13796980679035187,
                        "yaw": -80.86351013183594
                    }
                },
                "velocity": {
                    "x": 1.2809062004089355,
                    "y": -7.95295524597168,
                    "z": -0.017834290862083435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064632415771484,
                "transform": {
                    "location": {
                        "x": 948.9168701171875,
                        "y": 3494.01806640625,
                        "z": 370.7210388183594
                    },
                    "rotation": {
                        "roll": -0.0007324222824536264,
                        "pitch": -0.20312298834323883,
                        "yaw": -80.85823059082031
                    }
                },
                "velocity": {
                    "x": 1.2812435626983643,
                    "y": -7.962151527404785,
                    "z": -0.02921213023364544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02388858795166,
                "transform": {
                    "location": {
                        "x": 952.7348022460938,
                        "y": 3490.74951171875,
                        "z": 370.6925964355469
                    },
                    "rotation": {
                        "roll": -3.0515937396558e-05,
                        "pitch": -0.2085529863834381,
                        "yaw": -80.85957336425781
                    }
                },
                "velocity": {
                    "x": 1.2746162414550781,
                    "y": -7.921949863433838,
                    "z": -0.029080262407660484
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.7977905273438,
                        "y": 3417.74560546875,
                        "z": 370.3329162597656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.3565673828125,
                        "y": 3432.9150390625,
                        "z": 370.43475341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.432503700256348,
                "transform": {
                    "location": {
                        "x": 940.0348510742188,
                        "y": 3507.04296875,
                        "z": 370.757568359375
                    },
                    "rotation": {
                        "roll": 0.0002899706014432013,
                        "pitch": 0.15542776882648468,
                        "yaw": 99.14370727539062
                    }
                },
                "velocity": {
                    "x": -1.0221894979476929,
                    "y": 6.350740432739258,
                    "z": 0.018062762916088104
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.567531585693359,
                "transform": {
                    "location": {
                        "x": 937.2437133789062,
                        "y": 3524.376708984375,
                        "z": 370.8143310546875
                    },
                    "rotation": {
                        "roll": -0.00015258585335686803,
                        "pitch": 0.1480511724948883,
                        "yaw": 99.12442779541016
                    }
                },
                "velocity": {
                    "x": -1.2012555599212646,
                    "y": 7.47155237197876,
                    "z": 0.020529737696051598
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.2623291015625,
                        "y": 3402.432373046875,
                        "z": 370.2191467285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4334716796875,
                        "y": 3451.078125,
                        "z": 370.5386657714844
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.178644180297852,
                "transform": {
                    "location": {
                        "x": 948.2747192382812,
                        "y": 3476.2919921875,
                        "z": 370.6494445800781
                    },
                    "rotation": {
                        "roll": -6.10320785199292e-05,
                        "pitch": 0.2552168369293213,
                        "yaw": 99.1626205444336
                    }
                },
                "velocity": {
                    "x": -1.3022353649139404,
                    "y": 8.074234962463379,
                    "z": 0.033673401921987534
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.786203384399414,
                "transform": {
                    "location": {
                        "x": 944.4873046875,
                        "y": 3499.82421875,
                        "z": 370.7394714355469
                    },
                    "rotation": {
                        "roll": -0.000732425891328603,
                        "pitch": 0.11898872256278992,
                        "yaw": 99.1431655883789
                    }
                },
                "velocity": {
                    "x": -1.2372171878814697,
                    "y": 7.6872382164001465,
                    "z": 0.025072220712900162
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9995973110198975,
        "expert_target_speed": 10.0,
        "target_point": [
            31.719580898615252,
            -1.882460925063631
        ],
        "target_point_next": [
            50.12036567658644,
            -3.7949998447465525
        ]
    },
    "355": {
        "acceleration": [
            2.54241943359375,
            -6.158313751220703,
            -0.008545704185962677
        ],
        "angular_velocity": [
            -1.042311668395996,
            -0.9662407636642456,
            -4.400378227233887
        ],
        "forward_vector": [
            -0.24385496973991394,
            0.9698114991188049,
            -0.0005911587504670024
        ],
        "right_vector": [
            -0.9698061943054199,
            -0.24385559558868408,
            -0.0032265486661344767
        ],
        "location": [
            935.62841796875,
            3541.826904296875,
            370.845703125
        ],
        "rotation": [
            0.1848679631948471,
            -0.03387090563774109,
            104.11418151855469
        ],
        "velocity": [
            -3.319240093231201,
            13.24992561340332,
            0.024698294699192047
        ],
        "speed": 13.659351505735359,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 83.21920776367188,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8876037597656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.5780029296875,
                        "y": 3615.362060546875,
                        "z": 370.887451171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.995419025421143,
                "transform": {
                    "location": {
                        "x": 893.4471435546875,
                        "y": 3574.377685546875,
                        "z": 371.20819091796875
                    },
                    "rotation": {
                        "roll": 0.005609920248389244,
                        "pitch": -0.40100720524787903,
                        "yaw": 9.544206619262695
                    }
                },
                "velocity": {
                    "x": 7.885172367095947,
                    "y": 1.322101354598999,
                    "z": -0.05323433130979538
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 929.3693237304688,
                        "y": 3614.846435546875,
                        "z": 370.887451171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.005236625671387,
                "transform": {
                    "location": {
                        "x": 972.9453735351562,
                        "y": 3584.3154296875,
                        "z": 370.481201171875
                    },
                    "rotation": {
                        "roll": 0.0076892743818461895,
                        "pitch": 0.6681973934173584,
                        "yaw": -170.13934326171875
                    }
                },
                "velocity": {
                    "x": -7.889776229858398,
                    "y": -1.3515220880508423,
                    "z": 0.09289268404245377
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.8463745117188,
                        "y": 3403.20361328125,
                        "z": 370.2298889160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.5635986328125,
                        "y": 3388.13330078125,
                        "z": 370.0871887207031
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044804573059082,
                "transform": {
                    "location": {
                        "x": 942.2799072265625,
                        "y": 3535.25,
                        "z": 370.8351135253906
                    },
                    "rotation": {
                        "roll": 0.0007644423749297857,
                        "pitch": -0.11447396129369736,
                        "yaw": -80.8524398803711
                    }
                },
                "velocity": {
                    "x": 1.280734658241272,
                    "y": -7.942185401916504,
                    "z": -0.017287062481045723
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09585952758789,
                "transform": {
                    "location": {
                        "x": 946.2111206054688,
                        "y": 3531.28271484375,
                        "z": 370.82843017578125
                    },
                    "rotation": {
                        "roll": 0.00045241450425237417,
                        "pitch": -0.13314087688922882,
                        "yaw": -80.83973693847656
                    }
                },
                "velocity": {
                    "x": 1.2869133949279785,
                    "y": -7.992900848388672,
                    "z": -0.01812836527824402
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003963470458984,
                "transform": {
                    "location": {
                        "x": 949.2359008789062,
                        "y": 3492.03564453125,
                        "z": 370.71380615234375
                    },
                    "rotation": {
                        "roll": -0.000854499579872936,
                        "pitch": -0.20807486772537231,
                        "yaw": -80.85890197753906
                    }
                },
                "velocity": {
                    "x": 1.271565556526184,
                    "y": -7.902260780334473,
                    "z": -0.02864636853337288
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07480525970459,
                "transform": {
                    "location": {
                        "x": 953.0545043945312,
                        "y": 3488.762451171875,
                        "z": 370.6852722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.20769920945167542,
                        "yaw": -80.85933685302734
                    }
                },
                "velocity": {
                    "x": 1.28275465965271,
                    "y": -7.9722113609313965,
                    "z": -0.029441136866807938
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.4669799804688,
                        "y": 3419.8017578125,
                        "z": 370.3470764160156
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.0255737304688,
                        "y": 3434.971435546875,
                        "z": 370.4478759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.215031147003174,
                "transform": {
                    "location": {
                        "x": 939.7642822265625,
                        "y": 3508.722412109375,
                        "z": 370.7621765136719
                    },
                    "rotation": {
                        "roll": 6.383323488989845e-05,
                        "pitch": 0.18142347037792206,
                        "yaw": 99.14786529541016
                    }
                },
                "velocity": {
                    "x": -1.1473459005355835,
                    "y": 7.123189926147461,
                    "z": 0.020935239270329475
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.307546138763428,
                "transform": {
                    "location": {
                        "x": 936.9715576171875,
                        "y": 3526.06982421875,
                        "z": 370.81781005859375
                    },
                    "rotation": {
                        "roll": 0.00015983065532054752,
                        "pitch": 0.2543903887271881,
                        "yaw": 99.09801483154297
                    }
                },
                "velocity": {
                    "x": -1.0001825094223022,
                    "y": 6.227718353271484,
                    "z": 0.01720011606812477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.931396484375,
                        "y": 3404.48876953125,
                        "z": 370.2362365722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.1026611328125,
                        "y": 3453.13427734375,
                        "z": 370.54901123046875
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.074199676513672,
                "transform": {
                    "location": {
                        "x": 947.9490356445312,
                        "y": 3478.3125,
                        "z": 370.65777587890625
                    },
                    "rotation": {
                        "roll": 0.000150025196489878,
                        "pitch": 0.22637294232845306,
                        "yaw": 99.15773010253906
                    }
                },
                "velocity": {
                    "x": -1.2850409746170044,
                    "y": 7.971214294433594,
                    "z": 0.033415649086236954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.311028480529785,
                "transform": {
                    "location": {
                        "x": 944.1629638671875,
                        "y": 3501.840576171875,
                        "z": 370.74603271484375
                    },
                    "rotation": {
                        "roll": 0.0005029175081290305,
                        "pitch": 0.25195884704589844,
                        "yaw": 99.13970947265625
                    }
                },
                "velocity": {
                    "x": -1.3200726509094238,
                    "y": 8.205483436584473,
                    "z": 0.025260142982006073
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9994110465049744,
        "expert_target_speed": 10.0,
        "target_point": [
            28.25583395175627,
            -1.376580094546215
        ],
        "target_point_next": [
            46.686141158977364,
            -2.979846077461209
        ]
    },
    "360": {
        "acceleration": [
            1.3864564895629883,
            -3.1888198852539062,
            -0.006982982158660889
        ],
        "angular_velocity": [
            -0.2666171193122864,
            -0.013918003998696804,
            -2.7098608016967773
        ],
        "forward_vector": [
            -0.22743934392929077,
            0.9737828373908997,
            -0.004288183059543371
        ],
        "right_vector": [
            -0.9737768769264221,
            -0.22745826840400696,
            -0.004614757839590311
        ],
        "location": [
            934.858642578125,
            3545.007080078125,
            370.85174560546875
        ],
        "rotation": [
            0.26440951228141785,
            -0.2456955462694168,
            103.146484375
        ],
        "velocity": [
            -2.879181385040283,
            12.319263458251953,
            0.02006913162767887
        ],
        "speed": 12.651242531932757,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 79.9543685913086,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8876037597656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 986.4259033203125,
                        "y": 3586.569091796875,
                        "z": 370.70806884765625
                    },
                    "rotation": {
                        "roll": 6.670674679298827e-09,
                        "pitch": 0.747953474521637,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.4028930664062,
                        "y": 3628.87939453125,
                        "z": 370.8935852050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.1942138671875,
                        "y": 3628.363037109375,
                        "z": 370.8936767578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.03076171875,
                        "y": 3389.631591796875,
                        "z": 370.19683837890625
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.7421875,
                        "y": 3374.595947265625,
                        "z": 370.199951171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.443546295166016,
                "transform": {
                    "location": {
                        "x": 932.8831176757812,
                        "y": 3613.468994140625,
                        "z": 370.8900451660156
                    },
                    "rotation": {
                        "roll": -0.0027771047316491604,
                        "pitch": -0.07946924865245819,
                        "yaw": -80.8494644165039
                    }
                },
                "velocity": {
                    "x": 1.0347356796264648,
                    "y": -6.359908103942871,
                    "z": 0.01341588981449604
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.001462936401367,
                "transform": {
                    "location": {
                        "x": 895.4227294921875,
                        "y": 3574.70703125,
                        "z": 371.1946716308594
                    },
                    "rotation": {
                        "roll": 0.011624986305832863,
                        "pitch": -0.4197082817554474,
                        "yaw": 9.45443058013916
                    }
                },
                "velocity": {
                    "x": 7.894052982330322,
                    "y": 1.3055219650268555,
                    "z": -0.05424685403704643
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.443762302398682,
                "transform": {
                    "location": {
                        "x": 929.6743774414062,
                        "y": 3612.953369140625,
                        "z": 370.8900451660156
                    },
                    "rotation": {
                        "roll": -0.0023193415254354477,
                        "pitch": -0.07943509519100189,
                        "yaw": -80.84962463378906
                    }
                },
                "velocity": {
                    "x": 1.0347756147384644,
                    "y": -6.360121250152588,
                    "z": 0.013306321576237679
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.735960006713867,
                "transform": {
                    "location": {
                        "x": 971.0036010742188,
                        "y": 3583.982421875,
                        "z": 370.503662109375
                    },
                    "rotation": {
                        "roll": 0.006376155186444521,
                        "pitch": 0.6395583748817444,
                        "yaw": -170.33038330078125
                    }
                },
                "velocity": {
                    "x": -7.626988887786865,
                    "y": -1.2912037372589111,
                    "z": 0.08313791453838348
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.5154418945312,
                        "y": 3405.260009765625,
                        "z": 370.24652099609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.2327270507812,
                        "y": 3390.189697265625,
                        "z": 370.1080627441406
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050743103027344,
                "transform": {
                    "location": {
                        "x": 942.6004638671875,
                        "y": 3533.261474609375,
                        "z": 370.8307800292969
                    },
                    "rotation": {
                        "roll": 0.0007087271078489721,
                        "pitch": -0.12203498184680939,
                        "yaw": -80.8292465209961
                    }
                },
                "velocity": {
                    "x": 1.2813133001327515,
                    "y": -7.948105335235596,
                    "z": -0.01787208579480648
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.077681541442871,
                "transform": {
                    "location": {
                        "x": 946.5326538085938,
                        "y": 3529.2861328125,
                        "z": 370.8236389160156
                    },
                    "rotation": {
                        "roll": 0.001596761983819306,
                        "pitch": -0.14697200059890747,
                        "yaw": -80.87361907958984
                    }
                },
                "velocity": {
                    "x": 1.2821263074874878,
                    "y": -7.9752516746521,
                    "z": -0.02105807699263096
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063879013061523,
                "transform": {
                    "location": {
                        "x": 949.5550537109375,
                        "y": 3490.052001953125,
                        "z": 370.7065124511719
                    },
                    "rotation": {
                        "roll": -0.0002746567770373076,
                        "pitch": -0.20809535682201385,
                        "yaw": -80.8586196899414
                    }
                },
                "velocity": {
                    "x": 1.281132459640503,
                    "y": -7.961403846740723,
                    "z": -0.029939880594611168
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022762298583984,
                "transform": {
                    "location": {
                        "x": 953.3741455078125,
                        "y": 3486.776123046875,
                        "z": 370.6776428222656
                    },
                    "rotation": {
                        "roll": 0.0007806884823367,
                        "pitch": -0.22259585559368134,
                        "yaw": -80.85953521728516
                    }
                },
                "velocity": {
                    "x": 1.27448308467865,
                    "y": -7.920827388763428,
                    "z": -0.0298293624073267
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.1360473632812,
                        "y": 3421.858154296875,
                        "z": 370.3611145019531
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.6946411132812,
                        "y": 3437.02783203125,
                        "z": 370.4602966308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.094768524169922,
                "transform": {
                    "location": {
                        "x": 939.462646484375,
                        "y": 3510.595947265625,
                        "z": 370.7676086425781
                    },
                    "rotation": {
                        "roll": 0.00048060351400636137,
                        "pitch": 0.1792992800474167,
                        "yaw": 99.14945220947266
                    }
                },
                "velocity": {
                    "x": -1.2871475219726562,
                    "y": 7.9917473793029785,
                    "z": 0.02238020859658718
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.408708095550537,
                "transform": {
                    "location": {
                        "x": 936.734130859375,
                        "y": 3527.549072265625,
                        "z": 370.8216857910156
                    },
                    "rotation": {
                        "roll": -0.0005798375932499766,
                        "pitch": 0.2449510544538498,
                        "yaw": 99.11444854736328
                    }
                },
                "velocity": {
                    "x": -0.8552365899085999,
                    "y": 5.340646743774414,
                    "z": 0.013663778081536293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.6004638671875,
                        "y": 3406.545166015625,
                        "z": 370.25238037109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.7716064453125,
                        "y": 3455.19091796875,
                        "z": 370.5590515136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9722747802734375,
                "transform": {
                    "location": {
                        "x": 947.6319580078125,
                        "y": 3480.28125,
                        "z": 370.6657409667969
                    },
                    "rotation": {
                        "roll": -9.15478594833985e-05,
                        "pitch": 0.21579980850219727,
                        "yaw": 99.15171813964844
                    }
                },
                "velocity": {
                    "x": -1.268059253692627,
                    "y": 7.870713710784912,
                    "z": 0.03248785808682442
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.885507106781006,
                "transform": {
                    "location": {
                        "x": 943.841796875,
                        "y": 3503.8359375,
                        "z": 370.75225830078125
                    },
                    "rotation": {
                        "roll": -0.00042724795639514923,
                        "pitch": 0.12178226560354233,
                        "yaw": 99.14313507080078
                    }
                },
                "velocity": {
                    "x": -1.2529001235961914,
                    "y": 7.785295009613037,
                    "z": 0.02546037547290325
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.000702977180481,
        "expert_target_speed": 10.0,
        "target_point": [
            25.003144468412984,
            -0.925487683384266
        ],
        "target_point_next": [
            43.457899618230556,
            -2.217268595458745
        ]
    },
    "365": {
        "acceleration": [
            1.138930320739746,
            -3.005390167236328,
            0.003463737666606903
        ],
        "angular_velocity": [
            -0.043338336050510406,
            0.18059717118740082,
            -2.0817883014678955
        ],
        "forward_vector": [
            -0.21787825226783752,
            0.9759656190872192,
            -0.004487976431846619
        ],
        "right_vector": [
            -0.9759635925292969,
            -0.21789631247520447,
            -0.004027084913104773
        ],
        "location": [
            934.1781005859375,
            3547.98876953125,
            370.85662841796875
        ],
        "rotation": [
            0.23073789477348328,
            -0.25714296102523804,
            102.5845718383789
        ],
        "velocity": [
            -2.571408748626709,
            11.576513290405273,
            0.017988795414566994
        ],
        "speed": 11.858659406334423,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 76.9007339477539,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8876037597656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.941158413887024,
                "transform": {
                    "location": {
                        "x": 880.4489135742188,
                        "y": 3572.22021484375,
                        "z": 371.3824462890625
                    },
                    "rotation": {
                        "roll": 7.100621587596834e-05,
                        "pitch": -0.34274569153785706,
                        "yaw": 9.140233039855957
                    }
                },
                "velocity": {
                    "x": -0.011214092373847961,
                    "y": -0.0018834633519873023,
                    "z": -1.9411251544952393
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4529378414154053,
                "transform": {
                    "location": {
                        "x": 986.425048828125,
                        "y": 3586.568603515625,
                        "z": 370.3080139160156
                    },
                    "rotation": {
                        "roll": 0.0006815015804022551,
                        "pitch": 0.7400304675102234,
                        "yaw": -170.74755859375
                    }
                },
                "velocity": {
                    "x": -0.01840226538479328,
                    "y": -0.002879092702642083,
                    "z": -1.452818512916565
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.6014404296875,
                        "y": 3627.64453125,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.3873901367188,
                        "y": 3627.1611328125,
                        "z": 370.89178466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.6996459960938,
                        "y": 3391.68798828125,
                        "z": 370.18475341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.416748046875,
                        "y": 3376.61767578125,
                        "z": 369.97296142578125
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.152759075164795,
                "transform": {
                    "location": {
                        "x": 933.1401977539062,
                        "y": 3611.9228515625,
                        "z": 370.8954162597656
                    },
                    "rotation": {
                        "roll": -0.02954101376235485,
                        "pitch": -0.20041139423847198,
                        "yaw": -80.5860366821289
                    }
                },
                "velocity": {
                    "x": 1.0320159196853638,
                    "y": -6.065573692321777,
                    "z": 0.014414901845157146
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.512290000915527,
                "transform": {
                    "location": {
                        "x": 897.334228515625,
                        "y": 3575.021728515625,
                        "z": 371.181396484375
                    },
                    "rotation": {
                        "roll": 0.008970031514763832,
                        "pitch": -0.45440563559532166,
                        "yaw": 9.339041709899902
                    }
                },
                "velocity": {
                    "x": 7.413136005401611,
                    "y": 1.2154022455215454,
                    "z": -0.052059825509786606
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.1524577140808105,
                "transform": {
                    "location": {
                        "x": 929.9314575195312,
                        "y": 3611.4072265625,
                        "z": 370.8954162597656
                    },
                    "rotation": {
                        "roll": -0.0292358435690403,
                        "pitch": -0.20044554769992828,
                        "yaw": -80.58642578125
                    }
                },
                "velocity": {
                    "x": 1.0319453477859497,
                    "y": -6.065279006958008,
                    "z": 0.01467208843678236
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.593299865722656,
                "transform": {
                    "location": {
                        "x": 969.1148071289062,
                        "y": 3583.66357421875,
                        "z": 370.5248718261719
                    },
                    "rotation": {
                        "roll": 0.0038052930030971766,
                        "pitch": 0.5888647437095642,
                        "yaw": -170.50692749023438
                    }
                },
                "velocity": {
                    "x": -7.489480972290039,
                    "y": -1.2486988306045532,
                    "z": 0.08137328922748566
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.1845092773438,
                        "y": 3407.316162109375,
                        "z": 370.26226806640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.9016723632812,
                        "y": 3392.24609375,
                        "z": 370.1277160644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.029241561889648,
                "transform": {
                    "location": {
                        "x": 942.919921875,
                        "y": 3531.278564453125,
                        "z": 370.82623291015625
                    },
                    "rotation": {
                        "roll": 0.0014168218476697803,
                        "pitch": -0.14572890102863312,
                        "yaw": -80.86212921142578
                    }
                },
                "velocity": {
                    "x": 1.2757235765457153,
                    "y": -7.92722749710083,
                    "z": -0.017831401899456978
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.066376686096191,
                "transform": {
                    "location": {
                        "x": 946.8528442382812,
                        "y": 3527.294677734375,
                        "z": 370.81842041015625
                    },
                    "rotation": {
                        "roll": -0.0003051784005947411,
                        "pitch": -0.14962895214557648,
                        "yaw": -80.84690856933594
                    }
                },
                "velocity": {
                    "x": 1.2815110683441162,
                    "y": -7.9638991355896,
                    "z": -0.021746234968304634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005443572998047,
                "transform": {
                    "location": {
                        "x": 949.8741455078125,
                        "y": 3488.069580078125,
                        "z": 370.69915771484375
                    },
                    "rotation": {
                        "roll": 0.0005055040237493813,
                        "pitch": -0.20761041343212128,
                        "yaw": -80.85868835449219
                    }
                },
                "velocity": {
                    "x": 1.2718614339828491,
                    "y": -7.9037065505981445,
                    "z": -0.030254654586315155
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07530403137207,
                "transform": {
                    "location": {
                        "x": 953.6937255859375,
                        "y": 3484.7890625,
                        "z": 370.6698303222656
                    },
                    "rotation": {
                        "roll": -0.0002441278484184295,
                        "pitch": -0.2291528284549713,
                        "yaw": -80.86314392089844
                    }
                },
                "velocity": {
                    "x": 1.2822515964508057,
                    "y": -7.97278356552124,
                    "z": -0.033087357878685
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.8050537109375,
                        "y": 3423.91455078125,
                        "z": 370.3752136230469
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.3638305664062,
                        "y": 3439.084228515625,
                        "z": 370.47271728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.815769672393799,
                "transform": {
                    "location": {
                        "x": 939.1382446289062,
                        "y": 3512.609619140625,
                        "z": 370.77337646484375
                    },
                    "rotation": {
                        "roll": 3.485810520942323e-05,
                        "pitch": 0.15549607574939728,
                        "yaw": 99.14962768554688
                    }
                },
                "velocity": {
                    "x": -1.2427983283996582,
                    "y": 7.7162981033325195,
                    "z": 0.021286945790052414
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.311928749084473,
                "transform": {
                    "location": {
                        "x": 936.5242919921875,
                        "y": 3528.853271484375,
                        "z": 370.8255310058594
                    },
                    "rotation": {
                        "roll": 7.124373223632574e-05,
                        "pitch": 0.1729472130537033,
                        "yaw": 99.0854721069336
                    }
                },
                "velocity": {
                    "x": -0.8423357009887695,
                    "y": 5.244701385498047,
                    "z": 0.012715272605419159
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.26953125,
                        "y": 3408.6015625,
                        "z": 370.2681579589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.440673828125,
                        "y": 3457.2470703125,
                        "z": 370.56866455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.10718059539795,
                "transform": {
                    "location": {
                        "x": 947.3115234375,
                        "y": 3482.2705078125,
                        "z": 370.673828125
                    },
                    "rotation": {
                        "roll": 0.0007224056171253324,
                        "pitch": 0.24158377945423126,
                        "yaw": 99.14712524414062
                    }
                },
                "velocity": {
                    "x": -1.2887071371078491,
                    "y": 8.004034996032715,
                    "z": 0.03218504786491394
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.060612678527832,
                "transform": {
                    "location": {
                        "x": 943.5270385742188,
                        "y": 3505.7919921875,
                        "z": 370.7581481933594
                    },
                    "rotation": {
                        "roll": 0.0014518226962536573,
                        "pitch": 0.18231822550296783,
                        "yaw": 99.14117431640625
                    }
                },
                "velocity": {
                    "x": -1.279759407043457,
                    "y": 7.958343505859375,
                    "z": 0.021586589515209198
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.001120924949646,
        "expert_target_speed": 10.0,
        "target_point": [
            21.952686077643232,
            -0.6947676759711605
        ],
        "target_point_next": [
            40.41922271475065,
            -1.8054927521658026
        ]
    },
    "370": {
        "acceleration": [
            1.2373924255371094,
            -2.4018478393554688,
            -0.015073586255311966
        ],
        "angular_velocity": [
            0.05382987856864929,
            -0.12892067432403564,
            -3.610921859741211
        ],
        "forward_vector": [
            -0.2056698501110077,
            0.978611171245575,
            -0.0044884528033435345
        ],
        "right_vector": [
            -0.9786083102226257,
            -0.20568867027759552,
            -0.00423155864700675
        ],
        "location": [
            933.5731811523438,
            3550.794677734375,
            370.86065673828125
        ],
        "rotation": [
            0.24245361983776093,
            -0.25717025995254517,
            101.86883544921875
        ],
        "velocity": [
            -2.2548320293426514,
            10.91023063659668,
            0.01417564321309328
        ],
        "speed": 11.140798895244554,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 74.0333251953125,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8876037597656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.08982815593481064,
                "transform": {
                    "location": {
                        "x": 880.4476928710938,
                        "y": 3572.22021484375,
                        "z": 371.1885986328125
                    },
                    "rotation": {
                        "roll": 0.00102092360612005,
                        "pitch": -0.348018616437912,
                        "yaw": 9.140177726745605
                    }
                },
                "velocity": {
                    "x": 0.0005414962652139366,
                    "y": 0.00011278974852757528,
                    "z": 0.08982644975185394
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.25656139850616455,
                "transform": {
                    "location": {
                        "x": 986.4246826171875,
                        "y": 3586.568603515625,
                        "z": 370.2708435058594
                    },
                    "rotation": {
                        "roll": -0.00012206625251565129,
                        "pitch": 0.7327290177345276,
                        "yaw": -170.7475128173828
                    }
                },
                "velocity": {
                    "x": 0.0032668912317603827,
                    "y": 0.0005097437533549964,
                    "z": 0.25654008984565735
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.8695068359375,
                        "y": 3625.978271484375,
                        "z": 370.8871765136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.6708984375,
                        "y": 3625.39892578125,
                        "z": 370.88702392578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.3688354492188,
                        "y": 3393.744384765625,
                        "z": 370.16461181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.0859375,
                        "y": 3378.674072265625,
                        "z": 369.99041748046875
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.385045051574707,
                "transform": {
                    "location": {
                        "x": 933.403564453125,
                        "y": 3610.374267578125,
                        "z": 370.895263671875
                    },
                    "rotation": {
                        "roll": -0.011840821243822575,
                        "pitch": 0.05932702124118805,
                        "yaw": -80.33914947509766
                    }
                },
                "velocity": {
                    "x": 1.0851439237594604,
                    "y": -6.2921576499938965,
                    "z": 0.003935422748327255
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.449945449829102,
                "transform": {
                    "location": {
                        "x": 899.1787109375,
                        "y": 3575.32373046875,
                        "z": 371.1684265136719
                    },
                    "rotation": {
                        "roll": 0.004458894021809101,
                        "pitch": -0.46161147952079773,
                        "yaw": 9.294900894165039
                    }
                },
                "velocity": {
                    "x": 7.352221965789795,
                    "y": 1.2015430927276611,
                    "z": -0.05302657186985016
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.385478973388672,
                "transform": {
                    "location": {
                        "x": 930.19482421875,
                        "y": 3609.858642578125,
                        "z": 370.8952941894531
                    },
                    "rotation": {
                        "roll": -0.011718750931322575,
                        "pitch": 0.05891037732362747,
                        "yaw": -80.33934783935547
                    }
                },
                "velocity": {
                    "x": 1.0852009057998657,
                    "y": -6.292588233947754,
                    "z": 0.003588838502764702
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.189629077911377,
                "transform": {
                    "location": {
                        "x": 967.293701171875,
                        "y": 3583.3603515625,
                        "z": 370.5442199707031
                    },
                    "rotation": {
                        "roll": 0.002271778881549835,
                        "pitch": 0.5910776853561401,
                        "yaw": -170.62977600097656
                    }
                },
                "velocity": {
                    "x": -7.092819690704346,
                    "y": -1.1734869480133057,
                    "z": 0.0748804435133934
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8536376953125,
                        "y": 3409.372802734375,
                        "z": 370.278076171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.5706787109375,
                        "y": 3394.302490234375,
                        "z": 370.1473693847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045921325683594,
                "transform": {
                    "location": {
                        "x": 943.2394409179688,
                        "y": 3529.294677734375,
                        "z": 370.8213195800781
                    },
                    "rotation": {
                        "roll": 0.0010123384417966008,
                        "pitch": -0.14306513965129852,
                        "yaw": -80.8388671875
                    }
                },
                "velocity": {
                    "x": 1.2791824340820312,
                    "y": -7.943556785583496,
                    "z": -0.0211433544754982
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07859992980957,
                "transform": {
                    "location": {
                        "x": 947.173583984375,
                        "y": 3525.3017578125,
                        "z": 370.8132019042969
                    },
                    "rotation": {
                        "roll": 0.00033027800964191556,
                        "pitch": -0.14233429729938507,
                        "yaw": -80.87450408935547
                    }
                },
                "velocity": {
                    "x": 1.2828428745269775,
                    "y": -7.976066589355469,
                    "z": -0.021354341879487038
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06462574005127,
                "transform": {
                    "location": {
                        "x": 950.1931762695312,
                        "y": 3486.086181640625,
                        "z": 370.6915283203125
                    },
                    "rotation": {
                        "roll": -0.0005798367201350629,
                        "pitch": -0.22293053567409515,
                        "yaw": -80.86124420166016
                    }
                },
                "velocity": {
                    "x": 1.2806956768035889,
                    "y": -7.962228298187256,
                    "z": -0.030538486316800117
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.0022583007812,
                        "y": 3482.7861328125,
                        "z": 370.6632385253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.47412109375,
                        "y": 3425.970947265625,
                        "z": 370.3892517089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.0327758789062,
                        "y": 3441.140625,
                        "z": 370.4846496582031
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.69549560546875,
                "transform": {
                    "location": {
                        "x": 938.8504638671875,
                        "y": 3514.396728515625,
                        "z": 370.7785339355469
                    },
                    "rotation": {
                        "roll": 0.0003289972082711756,
                        "pitch": 0.13272422552108765,
                        "yaw": 99.1495132446289
                    }
                },
                "velocity": {
                    "x": -1.064642310142517,
                    "y": 6.610282897949219,
                    "z": 0.018945807591080666
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.026800155639648,
                "transform": {
                    "location": {
                        "x": 936.3005981445312,
                        "y": 3530.24609375,
                        "z": 370.8298034667969
                    },
                    "rotation": {
                        "roll": 0.0003873601963277906,
                        "pitch": 0.08561641722917557,
                        "yaw": 99.14751434326172
                    }
                },
                "velocity": {
                    "x": -0.9604940414428711,
                    "y": 5.949753284454346,
                    "z": 0.014490775763988495
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.9384765625,
                        "y": 3410.65771484375,
                        "z": 370.2835388183594
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1098022460938,
                        "y": 3459.303466796875,
                        "z": 370.57830810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.022294998168945,
                "transform": {
                    "location": {
                        "x": 946.9910888671875,
                        "y": 3484.26123046875,
                        "z": 370.6817932128906
                    },
                    "rotation": {
                        "roll": 0.0003345550794620067,
                        "pitch": 0.2242077738046646,
                        "yaw": 99.14663696289062
                    }
                },
                "velocity": {
                    "x": -1.2753047943115234,
                    "y": 7.920212268829346,
                    "z": 0.032588861882686615
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.092893600463867,
                "transform": {
                    "location": {
                        "x": 943.204345703125,
                        "y": 3507.79736328125,
                        "z": 370.76397705078125
                    },
                    "rotation": {
                        "roll": 0.0001460760395275429,
                        "pitch": 0.1788826435804367,
                        "yaw": 99.1395492553711
                    }
                },
                "velocity": {
                    "x": -1.2854784727096558,
                    "y": 7.990116596221924,
                    "z": 0.022682875394821167
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9993063807487488,
        "expert_target_speed": 10.0,
        "target_point": [
            19.089316398579957,
            -0.435379800256555
        ],
        "target_point_next": [
            37.56828696757663,
            -1.315341319115496
        ]
    },
    "375": {
        "acceleration": [
            2.416861057281494,
            -8.453006744384766,
            -0.02766495570540428
        ],
        "angular_velocity": [
            -1.8536889553070068,
            -0.4297564625740051,
            -3.848400354385376
        ],
        "forward_vector": [
            -0.1898070126771927,
            0.9817888140678406,
            -0.00800374522805214
        ],
        "right_vector": [
            -0.981803834438324,
            -0.18984605371952057,
            -0.004431785549968481
        ],
        "location": [
            933.053466796875,
            3553.3994140625,
            370.8644714355469
        ],
        "rotation": [
            0.25393158197402954,
            -0.4585857093334198,
            100.94187927246094
        ],
        "velocity": [
            -1.788499355316162,
            9.46179485321045,
            0.010037841275334358
        ],
        "speed": 9.629345345775386,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 71.37857055664062,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8876037597656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3492422103881836,
                "transform": {
                    "location": {
                        "x": 880.4559326171875,
                        "y": 3572.221435546875,
                        "z": 371.2733154296875
                    },
                    "rotation": {
                        "roll": -0.000427247432526201,
                        "pitch": -0.3303898870944977,
                        "yaw": 9.142738342285156
                    }
                },
                "velocity": {
                    "x": 0.09576719999313354,
                    "y": 0.016598453745245934,
                    "z": 0.3354448676109314
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.06322089582681656,
                "transform": {
                    "location": {
                        "x": 986.4251098632812,
                        "y": 3586.568603515625,
                        "z": 370.3106689453125
                    },
                    "rotation": {
                        "roll": 0.00013003106869291514,
                        "pitch": 0.734279453754425,
                        "yaw": -170.7474822998047
                    }
                },
                "velocity": {
                    "x": 0.0008539402042515576,
                    "y": -5.140734720043838e-05,
                    "z": 0.06321510672569275
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.0665283203125,
                        "y": 3624.7548828125,
                        "z": 370.88385009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.9108276367188,
                        "y": 3623.908935546875,
                        "z": 370.88299560546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.0377807617188,
                        "y": 3395.800537109375,
                        "z": 370.1673278808594
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.7550048828125,
                        "y": 3380.73046875,
                        "z": 370.0090637207031
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.131508827209473,
                "transform": {
                    "location": {
                        "x": 933.650390625,
                        "y": 3608.946533203125,
                        "z": 370.8974609375
                    },
                    "rotation": {
                        "roll": -0.002319337334483862,
                        "pitch": -0.14962895214557648,
                        "yaw": -80.31363677978516
                    }
                },
                "velocity": {
                    "x": 0.8781068325042725,
                    "y": -5.055819034576416,
                    "z": 0.0019091987051069736
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.979187488555908,
                "transform": {
                    "location": {
                        "x": 900.957275390625,
                        "y": 3575.61328125,
                        "z": 371.1556701660156
                    },
                    "rotation": {
                        "roll": 0.005991621408611536,
                        "pitch": -0.46621501445770264,
                        "yaw": 9.244536399841309
                    }
                },
                "velocity": {
                    "x": 6.888830184936523,
                    "y": 1.1182994842529297,
                    "z": -0.04979609698057175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.061326503753662,
                "transform": {
                    "location": {
                        "x": 930.4396362304688,
                        "y": 3608.4365234375,
                        "z": 370.89752197265625
                    },
                    "rotation": {
                        "roll": -0.0021667524706572294,
                        "pitch": -0.16027721762657166,
                        "yaw": -80.20598602294922
                    }
                },
                "velocity": {
                    "x": 0.8650379180908203,
                    "y": -4.986855983734131,
                    "z": 0.001751117641106248
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.060701847076416,
                "transform": {
                    "location": {
                        "x": 965.5374145507812,
                        "y": 3583.0703125,
                        "z": 370.56280517578125
                    },
                    "rotation": {
                        "roll": 0.0014728319365531206,
                        "pitch": 0.5939600467681885,
                        "yaw": -170.66680908203125
                    }
                },
                "velocity": {
                    "x": -6.966817855834961,
                    "y": -1.14519464969635,
                    "z": 0.07406406104564667
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.5226440429688,
                        "y": 3411.428955078125,
                        "z": 370.2926330566406
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.23974609375,
                        "y": 3396.358642578125,
                        "z": 370.1663513183594
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040175437927246,
                "transform": {
                    "location": {
                        "x": 943.5590209960938,
                        "y": 3527.30908203125,
                        "z": 370.8161926269531
                    },
                    "rotation": {
                        "roll": -0.000946044223383069,
                        "pitch": -0.14446532726287842,
                        "yaw": -80.86894989013672
                    }
                },
                "velocity": {
                    "x": 1.277688980102539,
                    "y": -7.9379777908325195,
                    "z": -0.020892567932605743
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078922271728516,
                "transform": {
                    "location": {
                        "x": 947.4942626953125,
                        "y": 3523.30810546875,
                        "z": 370.80792236328125
                    },
                    "rotation": {
                        "roll": -0.0001831150584621355,
                        "pitch": -0.15175996720790863,
                        "yaw": -80.84427642822266
                    }
                },
                "velocity": {
                    "x": 1.2836415767669678,
                    "y": -7.976263999938965,
                    "z": -0.02162875048816204
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.5062255859375,
                        "y": 3484.08740234375,
                        "z": 370.683349609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.2665405273438,
                        "y": 3480.718994140625,
                        "z": 370.6624450683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.1431884765625,
                        "y": 3428.02734375,
                        "z": 370.4030456542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.701904296875,
                        "y": 3443.19677734375,
                        "z": 370.4963684082031
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.811468124389648,
                "transform": {
                    "location": {
                        "x": 938.6038818359375,
                        "y": 3515.927978515625,
                        "z": 370.78277587890625
                    },
                    "rotation": {
                        "roll": -0.00021362409461289644,
                        "pitch": 0.13588660955429077,
                        "yaw": 99.14661407470703
                    }
                },
                "velocity": {
                    "x": -0.9236969351768494,
                    "y": 5.737566947937012,
                    "z": 0.01658266969025135
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.53220272064209,
                "transform": {
                    "location": {
                        "x": 936.0394287109375,
                        "y": 3531.864501953125,
                        "z": 370.83428955078125
                    },
                    "rotation": {
                        "roll": 0.00046515409485436976,
                        "pitch": -0.02038128301501274,
                        "yaw": 99.07540130615234
                    }
                },
                "velocity": {
                    "x": -1.1974519491195679,
                    "y": 7.436394691467285,
                    "z": 0.015016870573163033
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.6075439453125,
                        "y": 3412.71435546875,
                        "z": 370.2980041503906
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.7787475585938,
                        "y": 3461.35986328125,
                        "z": 370.58734130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053303718566895,
                "transform": {
                    "location": {
                        "x": 946.6723022460938,
                        "y": 3486.2431640625,
                        "z": 370.68963623046875
                    },
                    "rotation": {
                        "roll": 0.0001675609964877367,
                        "pitch": 0.22331301867961884,
                        "yaw": 99.13468170166016
                    }
                },
                "velocity": {
                    "x": -1.2785289287567139,
                    "y": 7.951114177703857,
                    "z": 0.029113711789250374
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.9776458740234375,
                "transform": {
                    "location": {
                        "x": 942.8862915039062,
                        "y": 3509.7744140625,
                        "z": 370.76971435546875
                    },
                    "rotation": {
                        "roll": -0.0008239677990786731,
                        "pitch": 0.15143895149230957,
                        "yaw": 99.13964080810547
                    }
                },
                "velocity": {
                    "x": -1.2671042680740356,
                    "y": 7.876343727111816,
                    "z": 0.02213897742331028
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4422316551208496,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9996696710586548,
        "expert_target_speed": 9.649334491474686,
        "target_point": [
            16.43783018880233,
            -0.1423594147474887
        ],
        "target_point_next": [
            34.92861805408246,
            -0.7232636114330493
        ]
    },
    "380": {
        "acceleration": [
            1.5916681289672852,
            -6.600971221923828,
            0.003087799996137619
        ],
        "angular_velocity": [
            -0.27083519101142883,
            0.1713842749595642,
            -3.0516796112060547
        ],
        "forward_vector": [
            -0.17502789199352264,
            0.9845013618469238,
            -0.011058223433792591
        ],
        "right_vector": [
            -0.9845462441444397,
            -0.1750802844762802,
            -0.003955453168600798
        ],
        "location": [
            932.6643676757812,
            3555.54052734375,
            370.8674011230469
        ],
        "rotation": [
            0.22664520144462585,
            -0.6336024403572083,
            100.08090209960938
        ],
        "velocity": [
            -1.3442436456680298,
            7.812417984008789,
            0.009735612198710442
        ],
        "speed": 7.92722307846719,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 69.20263671875,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8871154785156
            ],
            "velocity": [
                -5.6540616242273245e-06,
                -6.0170796132297255e-06,
                -0.012170270085334778
            ],
            "speed_kmh": 0.04381298239018387,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.843908429145813,
                "transform": {
                    "location": {
                        "x": 880.5948486328125,
                        "y": 3572.24462890625,
                        "z": 371.30963134765625
                    },
                    "rotation": {
                        "roll": -0.004211426712572575,
                        "pitch": -0.20681129395961761,
                        "yaw": 9.199268341064453
                    }
                },
                "velocity": {
                    "x": 0.8317871689796448,
                    "y": 0.14251789450645447,
                    "z": -0.0003749275056179613
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2537766695022583,
                "transform": {
                    "location": {
                        "x": 986.2511596679688,
                        "y": 3586.5380859375,
                        "z": 370.3170471191406
                    },
                    "rotation": {
                        "roll": -0.00039672685670666397,
                        "pitch": 0.7676039338111877,
                        "yaw": -170.6690216064453
                    }
                },
                "velocity": {
                    "x": -1.2335984706878662,
                    "y": -0.22361111640930176,
                    "z": 0.013732661493122578
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.248332500457764,
                "transform": {
                    "location": {
                        "x": 931.3407592773438,
                        "y": 3623.06298828125,
                        "z": 370.8870544433594
                    },
                    "rotation": {
                        "roll": -0.012451132759451866,
                        "pitch": -0.6244500279426575,
                        "yaw": -80.79681396484375
                    }
                },
                "velocity": {
                    "x": 0.6911698579788208,
                    "y": -4.191715240478516,
                    "z": 0.011687936261296272
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4273548126220703,
                "transform": {
                    "location": {
                        "x": 928.0718383789062,
                        "y": 3622.919677734375,
                        "z": 370.8774108886719
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": -0.018557623028755188,
                        "yaw": -80.79203033447266
                    }
                },
                "velocity": {
                    "x": 0.5693973898887634,
                    "y": -3.379662036895752,
                    "z": -0.020816359668970108
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.7068481445312,
                        "y": 3397.857177734375,
                        "z": 370.1849670410156
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.4239501953125,
                        "y": 3382.786865234375,
                        "z": 370.0311279296875
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0205302238464355,
                "transform": {
                    "location": {
                        "x": 933.8588256835938,
                        "y": 3607.720458984375,
                        "z": 370.8974914550781
                    },
                    "rotation": {
                        "roll": 0.019309096038341522,
                        "pitch": -0.08520660549402237,
                        "yaw": -80.43981170654297
                    }
                },
                "velocity": {
                    "x": 0.8275826573371887,
                    "y": -4.951848983764648,
                    "z": 0.004816818051040173
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.942046642303467,
                "transform": {
                    "location": {
                        "x": 902.6741943359375,
                        "y": 3575.891845703125,
                        "z": 371.1431579589844
                    },
                    "rotation": {
                        "roll": 0.0025731816422194242,
                        "pitch": -0.46508803963661194,
                        "yaw": 9.214227676391602
                    }
                },
                "velocity": {
                    "x": 6.852323532104492,
                    "y": 1.1113775968551636,
                    "z": -0.05014445632696152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.044308185577393,
                "transform": {
                    "location": {
                        "x": 930.6473388671875,
                        "y": 3607.213134765625,
                        "z": 370.8973693847656
                    },
                    "rotation": {
                        "roll": 0.01564992591738701,
                        "pitch": -0.07726992666721344,
                        "yaw": -80.30320739746094
                    }
                },
                "velocity": {
                    "x": 0.8353444337844849,
                    "y": -4.97465705871582,
                    "z": 0.0054457951337099075
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.673547267913818,
                "transform": {
                    "location": {
                        "x": 963.8447265625,
                        "y": 3582.79248046875,
                        "z": 370.580810546875
                    },
                    "rotation": {
                        "roll": 0.001499213743954897,
                        "pitch": 0.594444990158081,
                        "yaw": -170.7052764892578
                    }
                },
                "velocity": {
                    "x": -6.585484027862549,
                    "y": -1.0782740116119385,
                    "z": 0.07041093707084656
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.1917724609375,
                        "y": 3413.485595703125,
                        "z": 370.3070983886719
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.9088134765625,
                        "y": 3398.4150390625,
                        "z": 370.1846923828125
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.027404660359025,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8860778808594
                    },
                    "rotation": {
                        "roll": 0.0002154594985768199,
                        "pitch": -0.03860422596335411,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0003975877771154046,
                    "y": 6.13605952821672e-05,
                    "z": -0.02740170806646347
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.012170272879302502,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8871154785156
                    },
                    "rotation": {
                        "roll": 0.0003108403761871159,
                        "pitch": -0.03841981291770935,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -5.6540616242273245e-06,
                    "y": -6.0170796132297255e-06,
                    "z": -0.012170270085334778
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037985801696777,
                "transform": {
                    "location": {
                        "x": 943.8782348632812,
                        "y": 3525.3251953125,
                        "z": 370.8111572265625
                    },
                    "rotation": {
                        "roll": 0.0007818989688530564,
                        "pitch": -0.14434921741485596,
                        "yaw": -80.84727478027344
                    }
                },
                "velocity": {
                    "x": 1.2766050100326538,
                    "y": -7.935933589935303,
                    "z": -0.021474700421094894
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.074110984802246,
                "transform": {
                    "location": {
                        "x": 947.815185546875,
                        "y": 3521.314697265625,
                        "z": 370.8025207519531
                    },
                    "rotation": {
                        "roll": 0.0006424204912036657,
                        "pitch": -0.16146565973758698,
                        "yaw": -80.87266540527344
                    }
                },
                "velocity": {
                    "x": 1.282499074935913,
                    "y": -7.971574306488037,
                    "z": -0.021395977586507797
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.7953491210938,
                        "y": 3482.023681640625,
                        "z": 370.6736145019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.5827026367188,
                        "y": 3478.659912109375,
                        "z": 370.65557861328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.812255859375,
                        "y": 3430.083740234375,
                        "z": 370.4167785644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.3709106445312,
                        "y": 3445.25341796875,
                        "z": 370.50787353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.029323577880859,
                "transform": {
                    "location": {
                        "x": 938.3729248046875,
                        "y": 3517.363037109375,
                        "z": 370.7865905761719
                    },
                    "rotation": {
                        "roll": 6.67013155819518e-09,
                        "pitch": 0.15690992772579193,
                        "yaw": 99.1430435180664
                    }
                },
                "velocity": {
                    "x": -0.957170844078064,
                    "y": 5.952836036682129,
                    "z": 0.017716646194458008
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.314799308776855,
                "transform": {
                    "location": {
                        "x": 935.7196044921875,
                        "y": 3533.8544921875,
                        "z": 370.83831787109375
                    },
                    "rotation": {
                        "roll": 0.0001937536580953747,
                        "pitch": 0.00777958519756794,
                        "yaw": 99.11670684814453
                    }
                },
                "velocity": {
                    "x": -1.3194491863250732,
                    "y": 8.209424018859863,
                    "z": 0.017265787348151207
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.2766723632812,
                        "y": 3414.7705078125,
                        "z": 370.31256103515625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.4478759765625,
                        "y": 3463.416259765625,
                        "z": 370.5962829589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051368713378906,
                "transform": {
                    "location": {
                        "x": 946.3524169921875,
                        "y": 3488.232177734375,
                        "z": 370.69720458984375
                    },
                    "rotation": {
                        "roll": -0.0006408814224414527,
                        "pitch": 0.20938627421855927,
                        "yaw": 99.13762664794922
                    }
                },
                "velocity": {
                    "x": -1.2785918712615967,
                    "y": 7.949142932891846,
                    "z": 0.029513511806726456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.073232650756836,
                "transform": {
                    "location": {
                        "x": 942.5672607421875,
                        "y": 3511.756103515625,
                        "z": 370.7754211425781
                    },
                    "rotation": {
                        "roll": 0.0001268926716875285,
                        "pitch": 0.1714172512292862,
                        "yaw": 99.14630889892578
                    }
                },
                "velocity": {
                    "x": -1.2833489179611206,
                    "y": 7.970549583435059,
                    "z": 0.020979899913072586
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9995114207267761,
        "expert_target_speed": 8.44487322584831,
        "target_point": [
            14.261948231930397,
            0.09634464894192085
        ],
        "target_point_next": [
            32.75937736019215,
            -0.20664249509516264
        ]
    },
    "385": {
        "acceleration": [
            2.1102869510650635,
            -10.992584228515625,
            -0.03326243907213211
        ],
        "angular_velocity": [
            -1.7941162586212158,
            0.040413785725831985,
            -3.152904748916626
        ],
        "forward_vector": [
            -0.16354361176490784,
            0.9864583015441895,
            -0.012385527603328228
        ],
        "right_vector": [
            -0.9865235090255737,
            -0.16359201073646545,
            -0.0029936661012470722
        ],
        "location": [
            932.3692626953125,
            3557.310302734375,
            370.8697509765625
        ],
        "rotation": [
            0.171537846326828,
            -0.7096565961837769,
            99.41336822509766
        ],
        "velocity": [
            -0.9355941414833069,
            5.931062698364258,
            0.007152538280934095
        ],
        "speed": 6.004401812795825,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 67.4084243774414,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8843994140625
            ],
            "velocity": [
                8.512627391610295e-05,
                1.6843578123371117e-05,
                -0.00498533621430397
            ],
            "speed_kmh": 0.017949929007196098,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6448091268539429,
                "transform": {
                    "location": {
                        "x": 880.876708984375,
                        "y": 3572.2919921875,
                        "z": 371.2955322265625
                    },
                    "rotation": {
                        "roll": -0.006286622025072575,
                        "pitch": -0.1786845624446869,
                        "yaw": 9.293017387390137
                    }
                },
                "velocity": {
                    "x": 1.6198221445083618,
                    "y": 0.2777840495109558,
                    "z": -0.06640111654996872
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8008427619934082,
                "transform": {
                    "location": {
                        "x": 985.8638916015625,
                        "y": 3586.47216796875,
                        "z": 370.3213195800781
                    },
                    "rotation": {
                        "roll": 0.0032182475551962852,
                        "pitch": 0.7575772404670715,
                        "yaw": -170.50929260253906
                    }
                },
                "velocity": {
                    "x": -1.7745091915130615,
                    "y": -0.3061124384403229,
                    "z": 0.021139230579137802
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.013546298258006573,
                "transform": {
                    "location": {
                        "x": 931.3921508789062,
                        "y": 3622.75048828125,
                        "z": 370.8967590332031
                    },
                    "rotation": {
                        "roll": 0.0045808651484549046,
                        "pitch": -1.3241891860961914,
                        "yaw": -80.7549819946289
                    }
                },
                "velocity": {
                    "x": -0.0008612852543592453,
                    "y": 0.005668881814926863,
                    "z": 0.012272903695702553
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4273324012756348,
                "transform": {
                    "location": {
                        "x": 928.2140502929688,
                        "y": 3622.07421875,
                        "z": 370.8751525878906
                    },
                    "rotation": {
                        "roll": -0.0009765628492459655,
                        "pitch": 0.02865264192223549,
                        "yaw": -80.60256958007812
                    }
                },
                "velocity": {
                    "x": 0.5782560706138611,
                    "y": -3.3781988620758057,
                    "z": 9.370803309138864e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3758544921875,
                        "y": 3399.913330078125,
                        "z": 370.2026062011719
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.093017578125,
                        "y": 3384.843017578125,
                        "z": 370.0533447265625
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.299893856048584,
                "transform": {
                    "location": {
                        "x": 934.0824584960938,
                        "y": 3606.38427734375,
                        "z": 370.89569091796875
                    },
                    "rotation": {
                        "roll": 0.004080819431692362,
                        "pitch": 0.27876049280166626,
                        "yaw": -80.47001647949219
                    }
                },
                "velocity": {
                    "x": 1.038120150566101,
                    "y": -6.213769435882568,
                    "z": 0.005967750214040279
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.483857154846191,
                "transform": {
                    "location": {
                        "x": 904.328857421875,
                        "y": 3576.159912109375,
                        "z": 371.1310729980469
                    },
                    "rotation": {
                        "roll": 0.00020811797003261745,
                        "pitch": -0.4806813597679138,
                        "yaw": 9.205058097839355
                    }
                },
                "velocity": {
                    "x": 6.400238037109375,
                    "y": 1.0368698835372925,
                    "z": -0.04751994088292122
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.277449607849121,
                "transform": {
                    "location": {
                        "x": 930.8723754882812,
                        "y": 3605.87548828125,
                        "z": 370.8955383300781
                    },
                    "rotation": {
                        "roll": 0.0045074778608977795,
                        "pitch": 0.29556959867477417,
                        "yaw": -80.40434265136719
                    }
                },
                "velocity": {
                    "x": 1.0367599725723267,
                    "y": -6.19124174118042,
                    "z": 0.0055086323991417885
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.567817687988281,
                "transform": {
                    "location": {
                        "x": 962.2122192382812,
                        "y": 3582.52490234375,
                        "z": 370.5980529785156
                    },
                    "rotation": {
                        "roll": 0.0006710612215101719,
                        "pitch": 0.5865834355354309,
                        "yaw": -170.70632934570312
                    }
                },
                "velocity": {
                    "x": -6.481315612792969,
                    "y": -1.060396432876587,
                    "z": 0.0658450499176979
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.8607788085938,
                        "y": 3415.541748046875,
                        "z": 370.32135009765625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.577880859375,
                        "y": 3400.471435546875,
                        "z": 370.2029113769531
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.005564996972680092,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.88238525390625
                    },
                    "rotation": {
                        "roll": 0.0006296181818470359,
                        "pitch": -0.03872717171907425,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 7.715303945587948e-05,
                    "y": -2.7688582122209482e-05,
                    "z": -0.005564393475651741
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0049860915169119835,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8843994140625
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": -0.03796219080686569,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 8.512627391610295e-05,
                    "y": 1.6843578123371117e-05,
                    "z": -0.00498533621430397
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0427885055542,
                "transform": {
                    "location": {
                        "x": 944.1975708007812,
                        "y": 3523.340576171875,
                        "z": 370.8059387207031
                    },
                    "rotation": {
                        "roll": -0.0005798276397399604,
                        "pitch": -0.15063981711864471,
                        "yaw": -80.87224578857422
                    }
                },
                "velocity": {
                    "x": 1.2775650024414062,
                    "y": -7.94064474105835,
                    "z": -0.020919036120176315
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.075310707092285,
                "transform": {
                    "location": {
                        "x": 948.1356811523438,
                        "y": 3519.321533203125,
                        "z": 370.7969970703125
                    },
                    "rotation": {
                        "roll": 0.00024114525876939297,
                        "pitch": -0.1583852469921112,
                        "yaw": -80.84712219238281
                    }
                },
                "velocity": {
                    "x": 1.2827346324920654,
                    "y": -7.972752094268799,
                    "z": -0.021654337644577026
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4069,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.0845947265625,
                        "y": 3479.959716796875,
                        "z": 370.6638488769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.4813232421875,
                        "y": 3432.139892578125,
                        "z": 370.42987060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.0399169921875,
                        "y": 3447.3095703125,
                        "z": 370.5189514160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.222653388977051,
                "transform": {
                    "location": {
                        "x": 938.110595703125,
                        "y": 3518.993408203125,
                        "z": 370.79095458984375
                    },
                    "rotation": {
                        "roll": -0.0003662173403427005,
                        "pitch": 0.1818196326494217,
                        "yaw": 99.14419555664062
                    }
                },
                "velocity": {
                    "x": -1.147966742515564,
                    "y": 7.130816459655762,
                    "z": 0.018744496628642082
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997337341308594,
                "transform": {
                    "location": {
                        "x": 935.3950805664062,
                        "y": 3535.872802734375,
                        "z": 370.8414611816406
                    },
                    "rotation": {
                        "roll": 0.0010878437897190452,
                        "pitch": 0.13071615993976593,
                        "yaw": 99.13426971435547
                    }
                },
                "velocity": {
                    "x": -1.2696937322616577,
                    "y": 7.895884037017822,
                    "z": 0.01716824434697628
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.9456787109375,
                        "y": 3416.826904296875,
                        "z": 370.3266296386719
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.116943359375,
                        "y": 3465.472412109375,
                        "z": 370.60504150390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047679901123047,
                "transform": {
                    "location": {
                        "x": 946.0328979492188,
                        "y": 3490.21826171875,
                        "z": 370.7044982910156
                    },
                    "rotation": {
                        "roll": -0.0012206975370645523,
                        "pitch": 0.2073918581008911,
                        "yaw": 99.13794708251953
                    }
                },
                "velocity": {
                    "x": -1.2780030965805054,
                    "y": 7.945501327514648,
                    "z": 0.029311541467905045
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034958839416504,
                "transform": {
                    "location": {
                        "x": 942.246826171875,
                        "y": 3513.74609375,
                        "z": 370.7809143066406
                    },
                    "rotation": {
                        "roll": 0.0005504392320290208,
                        "pitch": 0.15581709146499634,
                        "yaw": 99.14662170410156
                    }
                },
                "velocity": {
                    "x": -1.2773349285125732,
                    "y": 7.932751178741455,
                    "z": 0.021060924977064133
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9998329281806946,
        "expert_target_speed": 6.883479295679423,
        "target_point": [
            12.46564805708492,
            0.2608177393973796
        ],
        "target_point_next": [
            30.965351689594257,
            0.17334732246187112
        ]
    },
    "390": {
        "acceleration": [
            4.1569976806640625,
            -24.51654052734375,
            -0.017698096111416817
        ],
        "angular_velocity": [
            -4.548803806304932,
            -0.4799164831638336,
            1.8231782913208008
        ],
        "forward_vector": [
            -0.1708374321460724,
            0.9848277568817139,
            -0.030478285625576973
        ],
        "right_vector": [
            -0.9852745532989502,
            -0.1709701269865036,
            -0.0017827246338129044
        ],
        "location": [
            932.2442016601562,
            3558.1298828125,
            370.8742370605469
        ],
        "rotation": [
            0.10219012200832367,
            -1.7465475797653198,
            99.84113311767578
        ],
        "velocity": [
            -0.04969000816345215,
            0.5147368311882019,
            -0.0003920078161172569
        ],
        "speed": 0.517129676476757,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 66.57942962646484,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -9.655581379774958e-05,
                -1.3433447747956961e-05,
                -6.797286187065765e-05
            ],
            "speed_kmh": 0.00042783682953983343,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1182146072387695,
                "transform": {
                    "location": {
                        "x": 881.4526977539062,
                        "y": 3572.389892578125,
                        "z": 371.28363037109375
                    },
                    "rotation": {
                        "roll": -0.00875854305922985,
                        "pitch": -0.0283247921615839,
                        "yaw": 9.391434669494629
                    }
                },
                "velocity": {
                    "x": 3.073293685913086,
                    "y": 0.526872456073761,
                    "z": -0.023095106706023216
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3388378620147705,
                "transform": {
                    "location": {
                        "x": 985.3521118164062,
                        "y": 3586.38427734375,
                        "z": 370.3279113769531
                    },
                    "rotation": {
                        "roll": 0.003121871966868639,
                        "pitch": 0.7520652413368225,
                        "yaw": -170.428955078125
                    }
                },
                "velocity": {
                    "x": -2.3045222759246826,
                    "y": -0.398078590631485,
                    "z": 0.02955012209713459
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.007316103670746088,
                "transform": {
                    "location": {
                        "x": 931.3936767578125,
                        "y": 3622.740966796875,
                        "z": 370.8882751464844
                    },
                    "rotation": {
                        "roll": 0.002451337408274412,
                        "pitch": -0.13204804062843323,
                        "yaw": -80.75540161132812
                    }
                },
                "velocity": {
                    "x": -0.001254821545444429,
                    "y": 0.007195854093879461,
                    "z": 0.0004128968284931034
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4134888648986816,
                "transform": {
                    "location": {
                        "x": 928.3572387695312,
                        "y": 3621.231201171875,
                        "z": 370.8756408691406
                    },
                    "rotation": {
                        "roll": -0.0007629385800100863,
                        "pitch": 0.03829003870487213,
                        "yaw": -80.46402740478516
                    }
                },
                "velocity": {
                    "x": 0.5774082541465759,
                    "y": -3.364298105239868,
                    "z": 0.0022150801960378885
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.0449829101562,
                        "y": 3401.969970703125,
                        "z": 370.2196350097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.7620849609375,
                        "y": 3386.8994140625,
                        "z": 370.07464599609375
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.347461700439453,
                "transform": {
                    "location": {
                        "x": 934.361328125,
                        "y": 3604.7265625,
                        "z": 370.8967590332031
                    },
                    "rotation": {
                        "roll": 0.006636941805481911,
                        "pitch": 0.28001725673675537,
                        "yaw": -80.7690658569336
                    }
                },
                "velocity": {
                    "x": 1.045454978942871,
                    "y": -6.260771751403809,
                    "z": 0.005542201921343803
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.4702301025390625,
                "transform": {
                    "location": {
                        "x": 905.9268798828125,
                        "y": 3576.41796875,
                        "z": 371.119140625
                    },
                    "rotation": {
                        "roll": 0.00015501523739658296,
                        "pitch": -0.4740629196166992,
                        "yaw": 9.183391571044922
                    }
                },
                "velocity": {
                    "x": 6.387148857116699,
                    "y": 1.0323985815048218,
                    "z": -0.04859842732548714
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.6401567459106445,
                "transform": {
                    "location": {
                        "x": 931.14599609375,
                        "y": 3604.240478515625,
                        "z": 370.8966979980469
                    },
                    "rotation": {
                        "roll": 0.0008758892654441297,
                        "pitch": 0.28627368807792664,
                        "yaw": -80.44537353515625
                    }
                },
                "velocity": {
                    "x": 1.0938596725463867,
                    "y": -6.549436569213867,
                    "z": 0.005657548550516367
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.197635173797607,
                "transform": {
                    "location": {
                        "x": 960.6390991210938,
                        "y": 3582.267822265625,
                        "z": 370.6142578125
                    },
                    "rotation": {
                        "roll": 0.00032379277399741113,
                        "pitch": 0.5659835934638977,
                        "yaw": -170.72177124023438
                    }
                },
                "velocity": {
                    "x": -6.116324424743652,
                    "y": -0.9986259937286377,
                    "z": 0.06328542530536652
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.5298461914062,
                        "y": 3417.59814453125,
                        "z": 370.33544921875
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.2469482421875,
                        "y": 3402.52783203125,
                        "z": 370.2200012207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0025605533737689257,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8818359375
                    },
                    "rotation": {
                        "roll": 0.0003082457114942372,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.00011232518590986729,
                    "y": 2.6033976610051468e-05,
                    "z": -0.0025579561479389668
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011884356354130432,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.00013377734285313636,
                        "pitch": -0.03798950836062431,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -9.655581379774958e-05,
                    "y": -1.3433447747956961e-05,
                    "z": -6.797286187065765e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039945602416992,
                "transform": {
                    "location": {
                        "x": 944.5169067382812,
                        "y": 3521.35546875,
                        "z": 370.8006286621094
                    },
                    "rotation": {
                        "roll": 3.25902619806584e-05,
                        "pitch": -0.15884287655353546,
                        "yaw": -80.84632110595703
                    }
                },
                "velocity": {
                    "x": 1.2780230045318604,
                    "y": -7.937690258026123,
                    "z": -0.02141653560101986
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076777458190918,
                "transform": {
                    "location": {
                        "x": 948.4566040039062,
                        "y": 3517.328369140625,
                        "z": 370.79144287109375
                    },
                    "rotation": {
                        "roll": -0.00015259259089361876,
                        "pitch": -0.15645913779735565,
                        "yaw": -80.87346649169922
                    }
                },
                "velocity": {
                    "x": 1.2828289270401,
                    "y": -7.974222183227539,
                    "z": -0.02131016179919243
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.1504516601562,
                        "y": 3434.1962890625,
                        "z": 370.4429931640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.7091064453125,
                        "y": 3449.365966796875,
                        "z": 370.5299987792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.151250839233398,
                "transform": {
                    "location": {
                        "x": 937.8112182617188,
                        "y": 3520.8525390625,
                        "z": 370.7960510253906
                    },
                    "rotation": {
                        "roll": 0.0002672325063031167,
                        "pitch": 0.18302856385707855,
                        "yaw": 99.15104675292969
                    }
                },
                "velocity": {
                    "x": -1.2962754964828491,
                    "y": 8.047487258911133,
                    "z": 0.02244880609214306
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.932287216186523,
                "transform": {
                    "location": {
                        "x": 935.0809936523438,
                        "y": 3537.824951171875,
                        "z": 370.8456115722656
                    },
                    "rotation": {
                        "roll": 0.00029698715661652386,
                        "pitch": 0.1225745677947998,
                        "yaw": 99.14010620117188
                    }
                },
                "velocity": {
                    "x": -1.2616171836853027,
                    "y": 7.831296920776367,
                    "z": 0.016928281635046005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.6148071289062,
                        "y": 3418.88330078125,
                        "z": 370.3407287597656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.7860107421875,
                        "y": 3467.529052734375,
                        "z": 370.6136779785156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045526504516602,
                "transform": {
                    "location": {
                        "x": 945.7133178710938,
                        "y": 3492.204345703125,
                        "z": 370.7117004394531
                    },
                    "rotation": {
                        "roll": -0.0007629385218024254,
                        "pitch": 0.20946823060512543,
                        "yaw": 99.1420669555664
                    }
                },
                "velocity": {
                    "x": -1.278220295906067,
                    "y": 7.943285942077637,
                    "z": 0.029205093160271645
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025697708129883,
                "transform": {
                    "location": {
                        "x": 941.9281005859375,
                        "y": 3515.7255859375,
                        "z": 370.78643798828125
                    },
                    "rotation": {
                        "roll": -6.103837222326547e-05,
                        "pitch": 0.1573948711156845,
                        "yaw": 99.14671325683594
                    }
                },
                "velocity": {
                    "x": -1.2757952213287354,
                    "y": 7.923617839813232,
                    "z": 0.021240118891000748
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9995678663253784,
        "expert_target_speed": 1.6301297775943586,
        "target_point": [
            11.638352489235722,
            0.18460426008770092
        ],
        "target_point_next": [
            30.136887514873077,
            -0.04097825205784478
        ]
    },
    "395": {
        "acceleration": [
            -0.3577795624732971,
            1.8896210193634033,
            0.0022117607295513153
        ],
        "angular_velocity": [
            4.507944107055664,
            0.8186593055725098,
            0.1480865478515625
        ],
        "forward_vector": [
            -0.17067953944206238,
            0.9852062463760376,
            -0.01539670117199421
        ],
        "right_vector": [
            -0.9853225350379944,
            -0.1707027107477188,
            -0.00019303195585962385
        ],
        "location": [
            932.227783203125,
            3558.230224609375,
            370.87103271484375
        ],
        "rotation": [
            0.0110612278804183,
            -0.8822008371353149,
            99.82850646972656
        ],
        "velocity": [
            -0.09641651064157486,
            0.5782946944236755,
            0.0020659826695919037
        ],
        "speed": 0.5862771504355847,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 66.47775268554688,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                5.4726529924664646e-05,
                4.4259986680117436e-06,
                -0.0008721616468392313
            ],
            "speed_kmh": 0.0031459973854150373,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.107054233551025,
                "transform": {
                    "location": {
                        "x": 882.4698486328125,
                        "y": 3572.5634765625,
                        "z": 371.27789306640625
                    },
                    "rotation": {
                        "roll": -0.009918212890625,
                        "pitch": 0.1142553985118866,
                        "yaw": 9.54747486114502
                    }
                },
                "velocity": {
                    "x": 5.033199787139893,
                    "y": 0.8651755452156067,
                    "z": -0.019383763894438744
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8633792400360107,
                "transform": {
                    "location": {
                        "x": 984.7088623046875,
                        "y": 3586.27392578125,
                        "z": 370.3362121582031
                    },
                    "rotation": {
                        "roll": 0.005199709441512823,
                        "pitch": 0.75236576795578,
                        "yaw": -170.35511779785156
                    }
                },
                "velocity": {
                    "x": -2.8212804794311523,
                    "y": -0.4877793788909912,
                    "z": 0.03726512938737869
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.075550876557827,
                "transform": {
                    "location": {
                        "x": 931.3946533203125,
                        "y": 3622.73486328125,
                        "z": 370.88507080078125
                    },
                    "rotation": {
                        "roll": -0.0005798427737317979,
                        "pitch": 0.20655857026576996,
                        "yaw": -80.75447845458984
                    }
                },
                "velocity": {
                    "x": 0.012197758071124554,
                    "y": -0.07453233748674393,
                    "z": -0.0020199869759380817
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.666395425796509,
                "transform": {
                    "location": {
                        "x": 928.503662109375,
                        "y": 3620.374267578125,
                        "z": 370.8762512207031
                    },
                    "rotation": {
                        "roll": 0.0004319995641708374,
                        "pitch": 0.04460796341300011,
                        "yaw": -80.37279510498047
                    }
                },
                "velocity": {
                    "x": 0.621368408203125,
                    "y": -3.6133575439453125,
                    "z": 0.002054243115708232
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.7140502929688,
                        "y": 3404.026123046875,
                        "z": 370.2367248535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.4312133789062,
                        "y": 3388.955810546875,
                        "z": 370.0955505371094
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.082062244415283,
                "transform": {
                    "location": {
                        "x": 934.5718383789062,
                        "y": 3603.464599609375,
                        "z": 370.90234375
                    },
                    "rotation": {
                        "roll": 0.014683938585221767,
                        "pitch": -0.29367080330848694,
                        "yaw": -80.87672424316406
                    }
                },
                "velocity": {
                    "x": 0.8224060535430908,
                    "y": -5.015076160430908,
                    "z": 0.003714456455782056
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.0208258628845215,
                "transform": {
                    "location": {
                        "x": 907.467041015625,
                        "y": 3576.666748046875,
                        "z": 371.1075744628906
                    },
                    "rotation": {
                        "roll": 0.0011854659533128142,
                        "pitch": -0.4783932566642761,
                        "yaw": 9.175304412841797
                    }
                },
                "velocity": {
                    "x": 5.943758964538574,
                    "y": 0.9592242240905762,
                    "z": -0.04426853731274605
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.179455280303955,
                "transform": {
                    "location": {
                        "x": 931.3485107421875,
                        "y": 3603.0126953125,
                        "z": 370.90240478515625
                    },
                    "rotation": {
                        "roll": 0.004083770327270031,
                        "pitch": -0.3219614326953888,
                        "yaw": -80.30207061767578
                    }
                },
                "velocity": {
                    "x": 0.8427039384841919,
                    "y": -5.110438823699951,
                    "z": 0.0046193599700927734
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.110934734344482,
                "transform": {
                    "location": {
                        "x": 959.1215209960938,
                        "y": 3582.02001953125,
                        "z": 370.6297302246094
                    },
                    "rotation": {
                        "roll": 0.0006458105053752661,
                        "pitch": 0.5599867105484009,
                        "yaw": -170.71571350097656
                    }
                },
                "velocity": {
                    "x": -6.030698776245117,
                    "y": -0.9851229786872864,
                    "z": 0.061095044016838074
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.198974609375,
                        "y": 3419.654541015625,
                        "z": 370.3495178222656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.9160766601562,
                        "y": 3404.584228515625,
                        "z": 370.237060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00018671962607186288,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8816833496094
                    },
                    "rotation": {
                        "roll": 0.0009795420337468386,
                        "pitch": -0.03893890604376793,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.00017944407591130584,
                    "y": 1.1503369705678779e-06,
                    "z": 5.160154614713974e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008738881442695856,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.00020360837515909225,
                        "pitch": -0.03811245411634445,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 5.4726529924664646e-05,
                    "y": 4.4259986680117436e-06,
                    "z": -0.0008721616468392313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039877891540527,
                "transform": {
                    "location": {
                        "x": 944.8361206054688,
                        "y": 3519.37109375,
                        "z": 370.7950744628906
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": -0.15771588683128357,
                        "yaw": -80.87224578857422
                    }
                },
                "velocity": {
                    "x": 1.2773789167404175,
                    "y": -7.937723159790039,
                    "z": -0.02225133404135704
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07601547241211,
                "transform": {
                    "location": {
                        "x": 948.777099609375,
                        "y": 3515.3349609375,
                        "z": 370.7859191894531
                    },
                    "rotation": {
                        "roll": -0.0004577644285745919,
                        "pitch": -0.15762026607990265,
                        "yaw": -80.84703063964844
                    }
                },
                "velocity": {
                    "x": 1.282817006111145,
                    "y": -7.973452091217041,
                    "z": -0.021556854248046875
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.8194580078125,
                        "y": 3436.252685546875,
                        "z": 370.45562744140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.3781127929688,
                        "y": 3451.42236328125,
                        "z": 370.5404357910156
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056516647338867,
                "transform": {
                    "location": {
                        "x": 937.4847412109375,
                        "y": 3522.87939453125,
                        "z": 370.8016357421875
                    },
                    "rotation": {
                        "roll": 0.00021840007684659213,
                        "pitch": 0.15273667871952057,
                        "yaw": 99.15118408203125
                    }
                },
                "velocity": {
                    "x": -1.2812883853912354,
                    "y": 7.95395040512085,
                    "z": 0.020693864673376083
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.124485969543457,
                "transform": {
                    "location": {
                        "x": 934.7608642578125,
                        "y": 3539.814697265625,
                        "z": 370.8498840332031
                    },
                    "rotation": {
                        "roll": 0.0003060716553591192,
                        "pitch": 0.10249381512403488,
                        "yaw": 99.14183044433594
                    }
                },
                "velocity": {
                    "x": -1.2908107042312622,
                    "y": 8.021275520324707,
                    "z": 0.015120038762688637
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.2838134765625,
                        "y": 3420.939697265625,
                        "z": 370.3548278808594
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.455078125,
                        "y": 3469.585205078125,
                        "z": 370.6223449707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055140495300293,
                "transform": {
                    "location": {
                        "x": 945.3934936523438,
                        "y": 3494.19189453125,
                        "z": 370.7188720703125
                    },
                    "rotation": {
                        "roll": 0.00019673601491376758,
                        "pitch": 0.20270633697509766,
                        "yaw": 99.14242553710938
                    }
                },
                "velocity": {
                    "x": -1.2798484563827515,
                    "y": 7.952763557434082,
                    "z": 0.028876323252916336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.054478645324707,
                "transform": {
                    "location": {
                        "x": 941.6085205078125,
                        "y": 3517.7119140625,
                        "z": 370.79193115234375
                    },
                    "rotation": {
                        "roll": 0.0006870103534311056,
                        "pitch": 0.1631595492362976,
                        "yaw": 99.14339447021484
                    }
                },
                "velocity": {
                    "x": -1.2798960208892822,
                    "y": 7.952106952667236,
                    "z": 0.022072752937674522
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0013337135314941,
        "expert_target_speed": 1.659562000100531,
        "target_point": [
            11.536639733273319,
            0.18812453777173888
        ],
        "target_point_next": [
            30.035224111199128,
            -0.03337394366133939
        ]
    },
    "400": {
        "acceleration": [
            -0.36218494176864624,
            2.107067108154297,
            0.005084990989416838
        ],
        "angular_velocity": [
            1.9881846904754639,
            0.37135928869247437,
            -0.3448407053947449
        ],
        "forward_vector": [
            -0.16953551769256592,
            0.9855206608772278,
            -0.0026098457165062428
        ],
        "right_vector": [
            -0.9855239987373352,
            -0.16953612864017487,
            -9.955488167179283e-06
        ],
        "location": [
            932.1964111328125,
            3558.41552734375,
            370.8686218261719
        ],
        "rotation": [
            0.0005704094073735178,
            -0.14953331649303436,
            99.76084899902344
        ],
        "velocity": [
            -0.1572139710187912,
            0.9349393844604492,
            0.001795434858649969
        ],
        "speed": 0.9480653380958408,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 66.28981018066406,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -7.566379281342961e-06,
                1.9239214452682063e-06,
                -0.0008588499622419477
            ],
            "speed_kmh": 0.0030919876053098084,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.028986930847168,
                "transform": {
                    "location": {
                        "x": 883.8198852539062,
                        "y": 3572.794677734375,
                        "z": 371.2726745605469
                    },
                    "rotation": {
                        "roll": -0.006378173362463713,
                        "pitch": -0.08886758983135223,
                        "yaw": 9.678528785705566
                    }
                },
                "velocity": {
                    "x": 5.9412970542907715,
                    "y": 1.0238995552062988,
                    "z": -0.036058034747838974
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.486825704574585,
                "transform": {
                    "location": {
                        "x": 983.9266357421875,
                        "y": 3586.139404296875,
                        "z": 370.3463439941406
                    },
                    "rotation": {
                        "roll": 0.0062104202806949615,
                        "pitch": 0.7544148564338684,
                        "yaw": -170.2913818359375
                    }
                },
                "velocity": {
                    "x": -3.435488700866699,
                    "y": -0.594484269618988,
                    "z": 0.04425781965255737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.684207558631897,
                "transform": {
                    "location": {
                        "x": 931.4043579101562,
                        "y": 3622.6796875,
                        "z": 370.8853759765625
                    },
                    "rotation": {
                        "roll": -0.0027770954184234142,
                        "pitch": 0.15510675311088562,
                        "yaw": -80.77849578857422
                    }
                },
                "velocity": {
                    "x": 0.1148223727941513,
                    "y": -0.6745030283927917,
                    "z": -0.0012145995860919356
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.473839282989502,
                "transform": {
                    "location": {
                        "x": 928.6751098632812,
                        "y": 3619.3740234375,
                        "z": 370.8768005371094
                    },
                    "rotation": {
                        "roll": 0.00029394510784186423,
                        "pitch": 0.06244158744812012,
                        "yaw": -80.30724334716797
                    }
                },
                "velocity": {
                    "x": 0.75927734375,
                    "y": -4.408937931060791,
                    "z": 0.0020529364701360464
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.3831176757812,
                        "y": 3406.08251953125,
                        "z": 370.2528076171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.1002807617188,
                        "y": 3391.01220703125,
                        "z": 370.1159973144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.3368330001831055,
                "transform": {
                    "location": {
                        "x": 934.7830810546875,
                        "y": 3602.16796875,
                        "z": 370.9002990722656
                    },
                    "rotation": {
                        "roll": 0.005686498712748289,
                        "pitch": 0.060501813888549805,
                        "yaw": -80.79560852050781
                    }
                },
                "velocity": {
                    "x": 0.8596552014350891,
                    "y": -5.267140865325928,
                    "z": 0.0018731974996626377
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.032257556915283,
                "transform": {
                    "location": {
                        "x": 908.9542236328125,
                        "y": 3576.90673828125,
                        "z": 371.0961608886719
                    },
                    "rotation": {
                        "roll": 0.00013962022785563022,
                        "pitch": -0.4800119996070862,
                        "yaw": 9.166621208190918
                    }
                },
                "velocity": {
                    "x": 5.955191135406494,
                    "y": 0.9601020812988281,
                    "z": -0.045081011950969696
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.35140323638916,
                "transform": {
                    "location": {
                        "x": 931.5609741210938,
                        "y": 3601.732177734375,
                        "z": 370.900146484375
                    },
                    "rotation": {
                        "roll": 0.0038143103010952473,
                        "pitch": 0.07668253034353256,
                        "yaw": -80.49217987060547
                    }
                },
                "velocity": {
                    "x": 0.8685951828956604,
                    "y": -5.280440330505371,
                    "z": 0.0031494235154241323
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.756320476531982,
                "transform": {
                    "location": {
                        "x": 957.6590576171875,
                        "y": 3581.78125,
                        "z": 370.6444091796875
                    },
                    "rotation": {
                        "roll": 0.0004083368694409728,
                        "pitch": 0.5618718266487122,
                        "yaw": -170.7294464111328
                    }
                },
                "velocity": {
                    "x": -5.680986404418945,
                    "y": -0.926481306552887,
                    "z": 0.05700886622071266
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.867919921875,
                        "y": 3421.7109375,
                        "z": 370.3636169433594
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.5850830078125,
                        "y": 3406.640625,
                        "z": 370.25311279296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00159487035125494,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8816223144531
                    },
                    "rotation": {
                        "roll": 0.0008931057527661324,
                        "pitch": -0.03908916935324669,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -6.951379327801988e-05,
                    "y": -5.807680736324983e-06,
                    "z": -0.001593344146385789
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008588854689151049,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": -3.051907697226852e-05,
                        "pitch": -0.03811245411634445,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.566379281342961e-06,
                    "y": 1.9239214452682063e-06,
                    "z": -0.0008588499622419477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041950225830078,
                "transform": {
                    "location": {
                        "x": 945.1557006835938,
                        "y": 3517.38623046875,
                        "z": 370.78955078125
                    },
                    "rotation": {
                        "roll": 0.00028728923643939197,
                        "pitch": -0.15783199667930603,
                        "yaw": -80.84370422363281
                    }
                },
                "velocity": {
                    "x": 1.2778277397155762,
                    "y": -7.939752578735352,
                    "z": -0.021092314273118973
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.075499534606934,
                "transform": {
                    "location": {
                        "x": 949.0978393554688,
                        "y": 3513.341796875,
                        "z": 370.7804260253906
                    },
                    "rotation": {
                        "roll": 0.0003473204269539565,
                        "pitch": -0.15826229751110077,
                        "yaw": -80.87489318847656
                    }
                },
                "velocity": {
                    "x": 1.2811564207077026,
                    "y": -7.973196029663086,
                    "z": -0.021671026945114136
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.4885864257812,
                        "y": 3438.30908203125,
                        "z": 370.4680480957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.0472412109375,
                        "y": 3453.478759765625,
                        "z": 370.5506896972656
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.81677770614624,
                "transform": {
                    "location": {
                        "x": 937.169677734375,
                        "y": 3524.835205078125,
                        "z": 370.8067932128906
                    },
                    "rotation": {
                        "roll": 0.00023962424893397838,
                        "pitch": 0.137177512049675,
                        "yaw": 99.15010833740234
                    }
                },
                "velocity": {
                    "x": -1.2421931028366089,
                    "y": 7.717418193817139,
                    "z": 0.020612258464097977
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.826992988586426,
                "transform": {
                    "location": {
                        "x": 934.4420166015625,
                        "y": 3541.7958984375,
                        "z": 370.8531799316406
                    },
                    "rotation": {
                        "roll": 3.0669205443700776e-05,
                        "pitch": 0.11066954582929611,
                        "yaw": 99.14170837402344
                    }
                },
                "velocity": {
                    "x": -1.24354088306427,
                    "y": 7.727563381195068,
                    "z": 0.013786687515676022
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.9529418945312,
                        "y": 3422.99609375,
                        "z": 370.368896484375
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.1241455078125,
                        "y": 3471.641845703125,
                        "z": 370.6309814453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042038917541504,
                "transform": {
                    "location": {
                        "x": 945.073974609375,
                        "y": 3496.177734375,
                        "z": 370.7257385253906
                    },
                    "rotation": {
                        "roll": 0.00017974032380152494,
                        "pitch": 0.18736574053764343,
                        "yaw": 99.14044952392578
                    }
                },
                "velocity": {
                    "x": -1.2766896486282349,
                    "y": 7.940001487731934,
                    "z": 0.028889579698443413
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02955150604248,
                "transform": {
                    "location": {
                        "x": 941.2891235351562,
                        "y": 3519.696533203125,
                        "z": 370.7974853515625
                    },
                    "rotation": {
                        "roll": 0.001169700874015689,
                        "pitch": 0.15654109418392181,
                        "yaw": 99.1400375366211
                    }
                },
                "velocity": {
                    "x": -1.2754721641540527,
                    "y": 7.927571773529053,
                    "z": 0.021891478449106216
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0011342763900757,
        "expert_target_speed": 1.9429068986385074,
        "target_point": [
            11.348470549150935,
            0.20224541342004665
        ],
        "target_point_next": [
            29.847303593655628,
            0.0025918232714570166
        ]
    },
    "405": {
        "acceleration": [
            -0.3009355068206787,
            1.8077421188354492,
            -0.008972547948360443
        ],
        "angular_velocity": [
            0.5453299880027771,
            0.10871778428554535,
            -0.19696871936321259
        ],
        "forward_vector": [
            -0.16962768137454987,
            0.9855036735534668,
            0.002984161488711834
        ],
        "right_vector": [
            -0.9855080842971802,
            -0.16962830722332,
            -4.478718255995773e-05
        ],
        "location": [
            932.1434326171875,
            3558.73046875,
            370.8677978515625
        ],
        "rotation": [
            0.0025661280378699303,
            0.17098011076450348,
            99.76622009277344
        ],
        "velocity": [
            -0.2543585002422333,
            1.511324167251587,
            0.0022896004375070333
        ],
        "speed": 1.5325791937659146,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 65.97045135498047,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                6.578976808668813e-06,
                1.070592497853795e-05,
                0.0004027748364023864
            ],
            "speed_kmh": 0.001450694893185282,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.543814182281494,
                "transform": {
                    "location": {
                        "x": 885.5240478515625,
                        "y": 3573.0869140625,
                        "z": 371.2611389160156
                    },
                    "rotation": {
                        "roll": 0.011444664560258389,
                        "pitch": -0.02298358455300331,
                        "yaw": 9.66084098815918
                    }
                },
                "velocity": {
                    "x": 7.438276290893555,
                    "y": 1.256480097770691,
                    "z": -0.0493507981300354
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.2973198890686035,
                "transform": {
                    "location": {
                        "x": 982.96826171875,
                        "y": 3585.973876953125,
                        "z": 370.3587951660156
                    },
                    "rotation": {
                        "roll": 0.006181444972753525,
                        "pitch": 0.7605893611907959,
                        "yaw": -170.23944091796875
                    }
                },
                "velocity": {
                    "x": -4.233922481536865,
                    "y": -0.7333949208259583,
                    "z": 0.05467374622821808
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.541701078414917,
                "transform": {
                    "location": {
                        "x": 931.4515991210938,
                        "y": 3622.400634765625,
                        "z": 370.8846435546875
                    },
                    "rotation": {
                        "roll": -0.0062255882658064365,
                        "pitch": 0.24727332592010498,
                        "yaw": -80.7120361328125
                    }
                },
                "velocity": {
                    "x": 0.26036182045936584,
                    "y": -1.5195565223693848,
                    "z": 0.0013643359998241067
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.2133259773254395,
                "transform": {
                    "location": {
                        "x": 928.8848876953125,
                        "y": 3618.15234375,
                        "z": 370.877685546875
                    },
                    "rotation": {
                        "roll": 0.001995920669287443,
                        "pitch": 0.06754373759031296,
                        "yaw": -80.27067565917969
                    }
                },
                "velocity": {
                    "x": 0.876045286655426,
                    "y": -5.139191627502441,
                    "z": 0.0046183583326637745
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.0521850585938,
                        "y": 3408.138916015625,
                        "z": 370.2685852050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.7693481445312,
                        "y": 3393.068603515625,
                        "z": 370.1355285644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.009863376617432,
                "transform": {
                    "location": {
                        "x": 935.0291137695312,
                        "y": 3600.658447265625,
                        "z": 370.8992614746094
                    },
                    "rotation": {
                        "roll": -0.0014648388605564833,
                        "pitch": 0.27384957671165466,
                        "yaw": -80.74901580810547
                    }
                },
                "velocity": {
                    "x": 0.9681626558303833,
                    "y": -5.931366920471191,
                    "z": 0.0018857669783756137
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.595737934112549,
                "transform": {
                    "location": {
                        "x": 910.3873291015625,
                        "y": 3577.137939453125,
                        "z": 371.0852355957031
                    },
                    "rotation": {
                        "roll": -0.0011596677359193563,
                        "pitch": -0.4933103919029236,
                        "yaw": 9.162914276123047
                    }
                },
                "velocity": {
                    "x": 5.5241804122924805,
                    "y": 0.8909963965415955,
                    "z": -0.04286999627947807
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.446447372436523,
                "transform": {
                    "location": {
                        "x": 931.7954711914062,
                        "y": 3600.3095703125,
                        "z": 370.8990478515625
                    },
                    "rotation": {
                        "roll": 0.004481078125536442,
                        "pitch": 0.29860901832580566,
                        "yaw": -80.61317443847656
                    }
                },
                "velocity": {
                    "x": 1.0417627096176147,
                    "y": -6.3617143630981445,
                    "z": 0.001956300577148795
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.689431190490723,
                "transform": {
                    "location": {
                        "x": 956.247802734375,
                        "y": 3581.55126953125,
                        "z": 370.65850830078125
                    },
                    "rotation": {
                        "roll": 0.0005558000993914902,
                        "pitch": 0.562937319278717,
                        "yaw": -170.72811889648438
                    }
                },
                "velocity": {
                    "x": -5.614978313446045,
                    "y": -0.9156407713890076,
                    "z": 0.05697664991021156
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.5369873046875,
                        "y": 3423.76708984375,
                        "z": 370.3777160644531
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.2542114257812,
                        "y": 3408.69677734375,
                        "z": 370.2688903808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.877824540017173e-05,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0007707926561124623,
                        "pitch": -0.03896622732281685,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -9.265198059438262e-06,
                    "y": -1.642918687139172e-05,
                    "z": 4.498394264373928e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004029707924928516,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.00017706301878206432,
                        "pitch": -0.03793486952781677,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 6.578976808668813e-06,
                    "y": 1.070592497853795e-05,
                    "z": 0.0004027748364023864
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039633750915527,
                "transform": {
                    "location": {
                        "x": 945.4749145507812,
                        "y": 3515.40185546875,
                        "z": 370.7840270996094
                    },
                    "rotation": {
                        "roll": 0.000945871404837817,
                        "pitch": -0.15789347887039185,
                        "yaw": -80.87462615966797
                    }
                },
                "velocity": {
                    "x": 1.2757551670074463,
                    "y": -7.937738418579102,
                    "z": -0.021647877991199493
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076204299926758,
                "transform": {
                    "location": {
                        "x": 949.4183959960938,
                        "y": 3511.3486328125,
                        "z": 370.7746887207031
                    },
                    "rotation": {
                        "roll": -0.0007629431784152985,
                        "pitch": -0.16311857104301453,
                        "yaw": -80.84757995605469
                    }
                },
                "velocity": {
                    "x": 1.2840816974639893,
                    "y": -7.973439693450928,
                    "z": -0.021640032529830933
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.157470703125,
                        "y": 3440.365478515625,
                        "z": 370.480224609375
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.7162475585938,
                        "y": 3455.534912109375,
                        "z": 370.5606689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.216129302978516,
                "transform": {
                    "location": {
                        "x": 936.8677368164062,
                        "y": 3526.7109375,
                        "z": 370.8116455078125
                    },
                    "rotation": {
                        "roll": 0.00020644035248551518,
                        "pitch": 0.13218463957309723,
                        "yaw": 99.1446304321289
                    }
                },
                "velocity": {
                    "x": -1.1467927694320679,
                    "y": 7.124401092529297,
                    "z": 0.017237911000847816
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.695294380187988,
                "transform": {
                    "location": {
                        "x": 934.1644897460938,
                        "y": 3543.51904296875,
                        "z": 370.85467529296875
                    },
                    "rotation": {
                        "roll": 0.0003828018088825047,
                        "pitch": 0.2749970555305481,
                        "yaw": 99.14330291748047
                    }
                },
                "velocity": {
                    "x": -0.9059789180755615,
                    "y": 5.622766017913818,
                    "z": 0.009084634482860565
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.6219482421875,
                        "y": 3425.052490234375,
                        "z": 370.38299560546875
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.7932739257812,
                        "y": 3473.697998046875,
                        "z": 370.63958740234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056509971618652,
                "transform": {
                    "location": {
                        "x": 944.7542724609375,
                        "y": 3498.16455078125,
                        "z": 370.7323303222656
                    },
                    "rotation": {
                        "roll": 0.0006520064198412001,
                        "pitch": 0.18906645476818085,
                        "yaw": 99.13837432861328
                    }
                },
                "velocity": {
                    "x": -1.2797032594680786,
                    "y": 7.954187870025635,
                    "z": 0.024632653221488
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04229736328125,
                "transform": {
                    "location": {
                        "x": 940.9700317382812,
                        "y": 3521.67919921875,
                        "z": 370.80291748046875
                    },
                    "rotation": {
                        "roll": 0.0009222057415172458,
                        "pitch": 0.15973763167858124,
                        "yaw": 99.13972473144531
                    }
                },
                "velocity": {
                    "x": -1.277509093284607,
                    "y": 7.940155506134033,
                    "z": 0.021178798750042915
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9994763731956482,
        "expert_target_speed": 2.3446681034504135,
        "target_point": [
            11.029125579507978,
            0.20238902205885845
        ],
        "target_point_next": [
            29.52793973953519,
            0.0009932989298508943
        ]
    },
    "410": {
        "acceleration": [
            -0.6139224767684937,
            3.794426918029785,
            -0.0005384441465139389
        ],
        "angular_velocity": [
            0.5542405843734741,
            -0.0030210278928279877,
            -0.09023799747228622
        ],
        "forward_vector": [
            -0.16734983026981354,
            0.9858800172805786,
            0.005875791423022747
        ],
        "right_vector": [
            -0.9858971834182739,
            -0.16735194623470306,
            -0.00013456703163683414
        ],
        "location": [
            932.060546875,
            3559.220947265625,
            370.86773681640625
        ],
        "rotation": [
            0.007710256148129702,
            0.3366599977016449,
            99.6339340209961
        ],
        "velocity": [
            -0.39641624689102173,
            2.3699512481689453,
            0.002005243208259344
        ],
        "speed": 2.4028763512708484,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 65.4730224609375,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -7.0867399699636735e-06,
                -3.1309621135733323e-06,
                -0.0007193453493528068
            ],
            "speed_kmh": 0.002589793451898627,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.698188781738281,
                "transform": {
                    "location": {
                        "x": 887.5109252929688,
                        "y": 3573.421142578125,
                        "z": 371.2485046386719
                    },
                    "rotation": {
                        "roll": 0.014586028642952442,
                        "pitch": -0.07428513467311859,
                        "yaw": 9.509603500366211
                    }
                },
                "velocity": {
                    "x": 8.579230308532715,
                    "y": 1.4325700998306274,
                    "z": -0.055143602192401886
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.261410236358643,
                "transform": {
                    "location": {
                        "x": 981.7879638671875,
                        "y": 3585.76953125,
                        "z": 370.3742980957031
                    },
                    "rotation": {
                        "roll": 0.006924569606781006,
                        "pitch": 0.7661013007164001,
                        "yaw": -170.2010498046875
                    }
                },
                "velocity": {
                    "x": -5.183687210083008,
                    "y": -0.8982963562011719,
                    "z": 0.06992685049772263
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.9177303314208984,
                "transform": {
                    "location": {
                        "x": 931.5466918945312,
                        "y": 3621.8408203125,
                        "z": 370.884521484375
                    },
                    "rotation": {
                        "roll": -0.007385240867733955,
                        "pitch": 0.3345836400985718,
                        "yaw": -80.60099792480469
                    }
                },
                "velocity": {
                    "x": 0.4935329854488373,
                    "y": -2.8756861686706543,
                    "z": 0.0020100402180105448
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.710864543914795,
                "transform": {
                    "location": {
                        "x": 929.1098022460938,
                        "y": 3616.8251953125,
                        "z": 370.8787841796875
                    },
                    "rotation": {
                        "roll": 0.002853531390428543,
                        "pitch": 0.055283546447753906,
                        "yaw": -80.4133071899414
                    }
                },
                "velocity": {
                    "x": 0.9425901770591736,
                    "y": -5.632538318634033,
                    "z": 0.0028930187691003084
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.7211303710938,
                        "y": 3410.1953125,
                        "z": 370.2839660644531
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.4384155273438,
                        "y": 3395.125,
                        "z": 370.1553039550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.1412506103515625,
                "transform": {
                    "location": {
                        "x": 935.2020874023438,
                        "y": 3599.615478515625,
                        "z": 370.9049377441406
                    },
                    "rotation": {
                        "roll": 0.004632534459233284,
                        "pitch": -0.4104260504245758,
                        "yaw": -80.99295806884766
                    }
                },
                "velocity": {
                    "x": 0.6660822629928589,
                    "y": -4.087332248687744,
                    "z": 0.0020671559032052755
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.626456260681152,
                "transform": {
                    "location": {
                        "x": 911.7719116210938,
                        "y": 3577.361083984375,
                        "z": 371.0743713378906
                    },
                    "rotation": {
                        "roll": -0.0014343345537781715,
                        "pitch": -0.48565375804901123,
                        "yaw": 9.157233238220215
                    }
                },
                "velocity": {
                    "x": 5.554781436920166,
                    "y": 0.8941680788993835,
                    "z": -0.04334908351302147
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.560473442077637,
                "transform": {
                    "location": {
                        "x": 931.9826049804688,
                        "y": 3599.14990234375,
                        "z": 370.9039611816406
                    },
                    "rotation": {
                        "roll": -0.0060424767434597015,
                        "pitch": -0.29629358649253845,
                        "yaw": -80.34645080566406
                    }
                },
                "velocity": {
                    "x": 0.738561749458313,
                    "y": -4.500271320343018,
                    "z": 0.0019011306576430798
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.349147319793701,
                "transform": {
                    "location": {
                        "x": 954.8873901367188,
                        "y": 3581.329345703125,
                        "z": 370.6722717285156
                    },
                    "rotation": {
                        "roll": -0.0005798369529657066,
                        "pitch": 0.5630875825881958,
                        "yaw": -170.74078369140625
                    }
                },
                "velocity": {
                    "x": -5.279149055480957,
                    "y": -0.8608981370925903,
                    "z": 0.05304338410496712
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.2059936523438,
                        "y": 3425.82373046875,
                        "z": 370.3917236328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.923095703125,
                        "y": 3410.75341796875,
                        "z": 370.2843017578125
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000979369506239891,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0007127076969482005,
                        "pitch": -0.03887743502855301,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.595882925670594e-05,
                    "y": -3.354651880727033e-06,
                    "z": -0.0009764136630110443
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007193870842456818,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 4.131631430936977e-05,
                        "pitch": -0.03796219080686569,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.0867399699636735e-06,
                    "y": -3.1309621135733323e-06,
                    "z": -0.0007193453493528068
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041491508483887,
                "transform": {
                    "location": {
                        "x": 945.794189453125,
                        "y": 3513.41748046875,
                        "z": 370.7785339355469
                    },
                    "rotation": {
                        "roll": -0.00033569434890523553,
                        "pitch": -0.1568552851676941,
                        "yaw": -80.84908294677734
                    }
                },
                "velocity": {
                    "x": 1.2769615650177002,
                    "y": -7.939426898956299,
                    "z": -0.021211795508861542
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.075858116149902,
                "transform": {
                    "location": {
                        "x": 949.7393798828125,
                        "y": 3509.35546875,
                        "z": 370.76898193359375
                    },
                    "rotation": {
                        "roll": -0.001129160518757999,
                        "pitch": -0.16937501728534698,
                        "yaw": -80.87177276611328
                    }
                },
                "velocity": {
                    "x": 1.2830413579940796,
                    "y": -7.973255634307861,
                    "z": -0.02184511534869671
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.8265380859375,
                        "y": 3442.421875,
                        "z": 370.491943359375
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.3853149414062,
                        "y": 3457.591552734375,
                        "z": 370.57025146484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.483970642089844,
                "transform": {
                    "location": {
                        "x": 936.6106567382812,
                        "y": 3528.308349609375,
                        "z": 370.81585693359375
                    },
                    "rotation": {
                        "roll": 0.0005894717178307474,
                        "pitch": 0.10997969657182693,
                        "yaw": 99.14141082763672
                    }
                },
                "velocity": {
                    "x": -0.8711087703704834,
                    "y": 5.414323806762695,
                    "z": 0.014147300273180008
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4135565757751465,
                "transform": {
                    "location": {
                        "x": 934.0158081054688,
                        "y": 3544.437744140625,
                        "z": 370.8540954589844
                    },
                    "rotation": {
                        "roll": 0.0008292854763567448,
                        "pitch": 0.4963703155517578,
                        "yaw": 99.24561309814453
                    }
                },
                "velocity": {
                    "x": -0.22777800261974335,
                    "y": 1.395082950592041,
                    "z": 0.0016888523241505027
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.291015625,
                        "y": 3427.108642578125,
                        "z": 370.3968811035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.462158203125,
                        "y": 3475.75439453125,
                        "z": 370.6482238769531
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042325019836426,
                "transform": {
                    "location": {
                        "x": 944.4345703125,
                        "y": 3500.1513671875,
                        "z": 370.7388610839844
                    },
                    "rotation": {
                        "roll": 0.00037306774174794555,
                        "pitch": 0.18898449838161469,
                        "yaw": 99.14212036132812
                    }
                },
                "velocity": {
                    "x": -1.2777596712112427,
                    "y": 7.940131664276123,
                    "z": 0.025048550218343735
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040117263793945,
                "transform": {
                    "location": {
                        "x": 940.6506958007812,
                        "y": 3523.66455078125,
                        "z": 370.8082275390625
                    },
                    "rotation": {
                        "roll": -0.00036621675826609135,
                        "pitch": 0.14968359470367432,
                        "yaw": 99.1395492553711
                    }
                },
                "velocity": {
                    "x": -1.2770413160324097,
                    "y": 7.9380202293396,
                    "z": 0.02185390330851078
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9999716877937317,
        "expert_target_speed": 3.123538622178885,
        "target_point": [
            10.531196458137796,
            0.22821668268538065
        ],
        "target_point_next": [
            29.030426265113157,
            0.06952795204502493
        ]
    },
    "415": {
        "acceleration": [
            -0.6858909130096436,
            4.205937385559082,
            0.0018106447532773018
        ],
        "angular_velocity": [
            0.3986968398094177,
            0.01628321409225464,
            -0.7998335957527161
        ],
        "forward_vector": [
            -0.16578122973442078,
            0.9861363172531128,
            0.00719278771430254
        ],
        "right_vector": [
            -0.9861620664596558,
            -0.16578425467014313,
            -0.00017935129289980978
        ],
        "location": [
            931.9439697265625,
            3559.919677734375,
            370.8681640625
        ],
        "rotation": [
            0.010276338085532188,
            0.41211992502212524,
            99.5428695678711
        ],
        "velocity": [
            -0.5374290943145752,
            3.2438414096832275,
            0.00207658763974905
        ],
        "speed": 3.2880597808725214,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 64.76463317871094,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                8.268238161690533e-06,
                -3.4444965422153473e-06,
                -0.0004990848829038441
            ],
            "speed_kmh": 0.0017969949066866762,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.30964183807373,
                "transform": {
                    "location": {
                        "x": 889.613037109375,
                        "y": 3573.772216796875,
                        "z": 371.2374267578125
                    },
                    "rotation": {
                        "roll": 0.002100555459037423,
                        "pitch": -0.39169085025787354,
                        "yaw": 9.444578170776367
                    }
                },
                "velocity": {
                    "x": 8.196864128112793,
                    "y": 1.3633302450180054,
                    "z": -0.053738053888082504
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.473389148712158,
                "transform": {
                    "location": {
                        "x": 980.4837036132812,
                        "y": 3585.545166015625,
                        "z": 370.3910217285156
                    },
                    "rotation": {
                        "roll": 0.008717411197721958,
                        "pitch": 0.7290953397750854,
                        "yaw": -170.22186279296875
                    }
                },
                "velocity": {
                    "x": -5.39544677734375,
                    "y": -0.9180890917778015,
                    "z": 0.0652322918176651
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.850497245788574,
                "transform": {
                    "location": {
                        "x": 931.709716796875,
                        "y": 3620.884521484375,
                        "z": 370.8841247558594
                    },
                    "rotation": {
                        "roll": -0.007476795464754105,
                        "pitch": 0.4650948643684387,
                        "yaw": -80.45964813232422
                    }
                },
                "velocity": {
                    "x": 0.8220052719116211,
                    "y": -4.780337333679199,
                    "z": 0.002444305457174778
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.782542705535889,
                "transform": {
                    "location": {
                        "x": 929.3671875,
                        "y": 3615.288330078125,
                        "z": 370.8796081542969
                    },
                    "rotation": {
                        "roll": 0.0013145655393600464,
                        "pitch": 0.0725434347987175,
                        "yaw": -80.5167465209961
                    }
                },
                "velocity": {
                    "x": 1.1130701303482056,
                    "y": -6.690586566925049,
                    "z": 0.0026219082064926624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.3903198242188,
                        "y": 3412.25146484375,
                        "z": 370.2984313964844
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.1072998046875,
                        "y": 3397.18115234375,
                        "z": 370.1736755371094
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.604773998260498,
                "transform": {
                    "location": {
                        "x": 935.3778686523438,
                        "y": 3598.52783203125,
                        "z": 370.90167236328125
                    },
                    "rotation": {
                        "roll": 0.00385807896964252,
                        "pitch": 0.06873218715190887,
                        "yaw": -80.90345764160156
                    }
                },
                "velocity": {
                    "x": 0.7355189323425293,
                    "y": -4.545651912689209,
                    "z": 0.0018904971657320857
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.19583797454834,
                "transform": {
                    "location": {
                        "x": 913.1055908203125,
                        "y": 3577.576171875,
                        "z": 371.0639343261719
                    },
                    "rotation": {
                        "roll": 6.33416639175266e-05,
                        "pitch": -0.4913910925388336,
                        "yaw": 9.152617454528809
                    }
                },
                "velocity": {
                    "x": 5.129528522491455,
                    "y": 0.8264539837837219,
                    "z": -0.040551986545324326
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0227742195129395,
                "transform": {
                    "location": {
                        "x": 932.1826171875,
                        "y": 3597.9375,
                        "z": 370.9017028808594
                    },
                    "rotation": {
                        "roll": 0.004226824268698692,
                        "pitch": 0.08711222559213638,
                        "yaw": -80.5251235961914
                    }
                },
                "velocity": {
                    "x": 0.809119701385498,
                    "y": -4.957173824310303,
                    "z": 0.003906650468707085
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.247268199920654,
                "transform": {
                    "location": {
                        "x": 953.5753173828125,
                        "y": 3581.115478515625,
                        "z": 370.6853942871094
                    },
                    "rotation": {
                        "roll": -3.051720887015108e-05,
                        "pitch": 0.5631285905838013,
                        "yaw": -170.73019409179688
                    }
                },
                "velocity": {
                    "x": -5.178591251373291,
                    "y": -0.8445562720298767,
                    "z": 0.05233193188905716
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.8751220703125,
                        "y": 3427.8798828125,
                        "z": 370.4054870605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.5921630859375,
                        "y": 3412.8095703125,
                        "z": 370.2987365722656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000598842860199511,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.00042315496830269694,
                        "pitch": -0.03908916935324669,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -6.541646143887192e-05,
                    "y": 4.719947537523694e-05,
                    "z": -0.0005933849606662989
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004991652676835656,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 7.5689044933824334e-06,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 8.268238161690533e-06,
                    "y": -3.4444965422153473e-06,
                    "z": -0.0004990848829038441
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040696144104004,
                "transform": {
                    "location": {
                        "x": 946.1134643554688,
                        "y": 3511.43310546875,
                        "z": 370.7729187011719
                    },
                    "rotation": {
                        "roll": -0.00027465602033771574,
                        "pitch": -0.1609807163476944,
                        "yaw": -80.87296295166016
                    }
                },
                "velocity": {
                    "x": 1.2772215604782104,
                    "y": -7.938578128814697,
                    "z": -0.021704176440835
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076163291931152,
                "transform": {
                    "location": {
                        "x": 950.0598754882812,
                        "y": 3507.3623046875,
                        "z": 370.76312255859375
                    },
                    "rotation": {
                        "roll": 0.0001479035709053278,
                        "pitch": -0.16845294833183289,
                        "yaw": -80.84465026855469
                    }
                },
                "velocity": {
                    "x": 1.2832813262939453,
                    "y": -7.973525047302246,
                    "z": -0.02244204469025135
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.4957885742188,
                        "y": 3444.47802734375,
                        "z": 370.5036926269531
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.0543823242188,
                        "y": 3459.647705078125,
                        "z": 370.5798645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0440754890441895,
                "transform": {
                    "location": {
                        "x": 936.4869384765625,
                        "y": 3529.077392578125,
                        "z": 370.81787109375
                    },
                    "rotation": {
                        "roll": 0.00011214457481401041,
                        "pitch": 0.06422426551580429,
                        "yaw": 99.14099884033203
                    }
                },
                "velocity": {
                    "x": -0.32471752166748047,
                    "y": 2.0181097984313965,
                    "z": 0.006024160422384739
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9046401381492615,
                "transform": {
                    "location": {
                        "x": 933.9970703125,
                        "y": 3544.55419921875,
                        "z": 370.8566589355469
                    },
                    "rotation": {
                        "roll": -0.00015259308565873653,
                        "pitch": 0.21526023745536804,
                        "yaw": 99.2628173828125
                    }
                },
                "velocity": {
                    "x": -0.14416688680648804,
                    "y": 0.8930763006210327,
                    "z": 0.002098140772432089
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.9600830078125,
                        "y": 3429.1650390625,
                        "z": 370.41064453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.1312255859375,
                        "y": 3477.810791015625,
                        "z": 370.6568603515625
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055107116699219,
                "transform": {
                    "location": {
                        "x": 944.1149291992188,
                        "y": 3502.137939453125,
                        "z": 370.74530029296875
                    },
                    "rotation": {
                        "roll": -0.0003356881206855178,
                        "pitch": 0.18264608085155487,
                        "yaw": 99.1421127319336
                    }
                },
                "velocity": {
                    "x": -1.2797647714614868,
                    "y": 7.952754497528076,
                    "z": 0.025520334020256996
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037888526916504,
                "transform": {
                    "location": {
                        "x": 940.3314819335938,
                        "y": 3525.6484375,
                        "z": 370.8133544921875
                    },
                    "rotation": {
                        "roll": 0.00013810498057864606,
                        "pitch": 0.14439019560813904,
                        "yaw": 99.1396484375
                    }
                },
                "velocity": {
                    "x": -1.2768374681472778,
                    "y": 7.935798645019531,
                    "z": 0.021060990169644356
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8939976096153259,
        "expert_target_speed": 3.878502470722658,
        "target_point": [
            9.822432155141708,
            0.24583644919246161
        ],
        "target_point_next": [
            28.32189089489169,
            0.11656193195936648
        ]
    },
    "420": {
        "acceleration": [
            -0.661085844039917,
            4.1567230224609375,
            -0.0036506634205579758
        ],
        "angular_velocity": [
            0.16868752241134644,
            0.024698030203580856,
            -0.40540364384651184
        ],
        "forward_vector": [
            -0.16427704691886902,
            0.9863744378089905,
            0.008862974122166634
        ],
        "right_vector": [
            -0.9864134788513184,
            -0.16428185999393463,
            -0.00018770711903925985
        ],
        "location": [
            931.7854614257812,
            3560.87890625,
            370.86871337890625
        ],
        "rotation": [
            0.010755248367786407,
            0.5078176856040955,
            99.45561218261719
        ],
        "velocity": [
            -0.7152559757232666,
            4.355782508850098,
            0.0022585391998291016
        ],
        "speed": 4.414117394815445,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 63.79239273071289,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                9.890608225759934e-07,
                1.5765427860969794e-06,
                -0.00118925457354635
            ],
            "speed_kmh": 0.004281321707300766,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.9126129150390625,
                "transform": {
                    "location": {
                        "x": 891.6039428710938,
                        "y": 3574.1005859375,
                        "z": 371.2253112792969
                    },
                    "rotation": {
                        "roll": 0.010717906057834625,
                        "pitch": -0.5205696821212769,
                        "yaw": 9.346549034118652
                    }
                },
                "velocity": {
                    "x": 7.808237075805664,
                    "y": 1.2798911333084106,
                    "z": -0.05243499204516411
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.578448295593262,
                "transform": {
                    "location": {
                        "x": 978.993896484375,
                        "y": 3585.29248046875,
                        "z": 370.40924072265625
                    },
                    "rotation": {
                        "roll": 0.005103776231408119,
                        "pitch": 0.7095746397972107,
                        "yaw": -170.3132781982422
                    }
                },
                "velocity": {
                    "x": -6.486522197723389,
                    "y": -1.093041181564331,
                    "z": 0.07918388396501541
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.948885440826416,
                "transform": {
                    "location": {
                        "x": 931.9368286132812,
                        "y": 3619.559326171875,
                        "z": 370.88623046875
                    },
                    "rotation": {
                        "roll": -0.0044250586070120335,
                        "pitch": 0.32265812158584595,
                        "yaw": -80.32329559326172
                    }
                },
                "velocity": {
                    "x": 1.010898232460022,
                    "y": -5.862362384796143,
                    "z": 0.005631322506815195
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.780283451080322,
                "transform": {
                    "location": {
                        "x": 929.6710815429688,
                        "y": 3613.46240234375,
                        "z": 370.8807678222656
                    },
                    "rotation": {
                        "roll": 0.00013466956443153322,
                        "pitch": 0.07494083046913147,
                        "yaw": -80.5734634399414
                    }
                },
                "velocity": {
                    "x": 1.2734532356262207,
                    "y": -7.675356864929199,
                    "z": 0.0055094812996685505
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.059326171875,
                        "y": 3414.30810546875,
                        "z": 370.3129577636719
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.7764892578125,
                        "y": 3399.23779296875,
                        "z": 370.1920471191406
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.035353183746338,
                "transform": {
                    "location": {
                        "x": 935.5709228515625,
                        "y": 3597.332763671875,
                        "z": 370.9012451171875
                    },
                    "rotation": {
                        "roll": -0.00033570159575901926,
                        "pitch": 0.1884312480688095,
                        "yaw": -80.85285949707031
                    }
                },
                "velocity": {
                    "x": 0.8047558665275574,
                    "y": -4.9706268310546875,
                    "z": 0.004317197483032942
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.243818759918213,
                "transform": {
                    "location": {
                        "x": 914.3944091796875,
                        "y": 3577.781494140625,
                        "z": 371.0536193847656
                    },
                    "rotation": {
                        "roll": 0.03288750350475311,
                        "pitch": -0.49117937684059143,
                        "yaw": 9.062522888183594
                    }
                },
                "velocity": {
                    "x": 5.186284065246582,
                    "y": 0.7735574841499329,
                    "z": -0.04123769700527191
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.315122127532959,
                "transform": {
                    "location": {
                        "x": 932.3896484375,
                        "y": 3596.671875,
                        "z": 370.9020080566406
                    },
                    "rotation": {
                        "roll": 0.00441009784117341,
                        "pitch": 0.1242138147354126,
                        "yaw": -80.6623764038086
                    }
                },
                "velocity": {
                    "x": 0.851862907409668,
                    "y": -5.246412754058838,
                    "z": 0.001963596325367689
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0679162591695786e-05,
                "transform": {
                    "location": {
                        "x": 952.9974975585938,
                        "y": 3581.02001953125,
                        "z": 370.6922607421875
                    },
                    "rotation": {
                        "roll": 0.0010167985456064343,
                        "pitch": 0.421538770198822,
                        "yaw": -170.83396911621094
                    }
                },
                "velocity": {
                    "x": 4.295035978429951e-06,
                    "y": 2.078177385556046e-05,
                    "z": 2.2155851183924824e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.544189453125,
                        "y": 3429.936279296875,
                        "z": 370.4190979003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.2612915039062,
                        "y": 3414.865966796875,
                        "z": 370.3132629394531
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00013990206934977323,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.001063878764398396,
                        "pitch": -0.03906184807419777,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 6.36462282272987e-05,
                    "y": 4.3293210183037445e-05,
                    "z": 0.00011682228068821132
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001189255970530212,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 4.473307853913866e-05,
                        "pitch": -0.03796219080686569,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 9.890608225759934e-07,
                    "y": 1.5765427860969794e-06,
                    "z": -0.00118925457354635
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040266036987305,
                "transform": {
                    "location": {
                        "x": 946.432861328125,
                        "y": 3509.44873046875,
                        "z": 370.7672424316406
                    },
                    "rotation": {
                        "roll": 2.606021735118702e-05,
                        "pitch": -0.1679406762123108,
                        "yaw": -80.84379577636719
                    }
                },
                "velocity": {
                    "x": 1.278455138206482,
                    "y": -7.937943935394287,
                    "z": -0.021846622228622437
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076006889343262,
                "transform": {
                    "location": {
                        "x": 950.3809814453125,
                        "y": 3505.369384765625,
                        "z": 370.75726318359375
                    },
                    "rotation": {
                        "roll": 0.0005985312163829803,
                        "pitch": -0.16729864478111267,
                        "yaw": -80.86817932128906
                    }
                },
                "velocity": {
                    "x": 1.2827030420303345,
                    "y": -7.973457336425781,
                    "z": -0.02307278662919998
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.1646728515625,
                        "y": 3446.53466796875,
                        "z": 370.5147705078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.7233276367188,
                        "y": 3461.704345703125,
                        "z": 370.58880615234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.73417592048645,
                "transform": {
                    "location": {
                        "x": 936.392333984375,
                        "y": 3529.665771484375,
                        "z": 370.81884765625
                    },
                    "rotation": {
                        "roll": -9.155416773865e-05,
                        "pitch": 0.1423548012971878,
                        "yaw": 99.1414566040039
                    }
                },
                "velocity": {
                    "x": -0.4343245327472687,
                    "y": 2.699451446533203,
                    "z": 0.006443376187235117
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8507214784622192,
                "transform": {
                    "location": {
                        "x": 933.9417724609375,
                        "y": 3544.896728515625,
                        "z": 370.8588562011719
                    },
                    "rotation": {
                        "roll": -0.00018310610903427005,
                        "pitch": 0.016078263521194458,
                        "yaw": 99.2442626953125
                    }
                },
                "velocity": {
                    "x": -0.2940158247947693,
                    "y": 1.8272161483764648,
                    "z": 0.0024427699390798807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.6290283203125,
                        "y": 3431.221435546875,
                        "z": 370.4239501953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.80029296875,
                        "y": 3479.8671875,
                        "z": 370.6653747558594
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043790817260742,
                "transform": {
                    "location": {
                        "x": 943.7951049804688,
                        "y": 3504.12451171875,
                        "z": 370.75146484375
                    },
                    "rotation": {
                        "roll": -0.0001525859988760203,
                        "pitch": 0.16675905883312225,
                        "yaw": 99.14241790771484
                    }
                },
                "velocity": {
                    "x": -1.27804696559906,
                    "y": 7.94157075881958,
                    "z": 0.02504643425345421
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03927993774414,
                "transform": {
                    "location": {
                        "x": 940.0122680664062,
                        "y": 3527.6328125,
                        "z": 370.8183898925781
                    },
                    "rotation": {
                        "roll": 0.0002110895438818261,
                        "pitch": 0.1461797058582306,
                        "yaw": 99.13958740234375
                    }
                },
                "velocity": {
                    "x": -1.2769684791564941,
                    "y": 7.9371867179870605,
                    "z": 0.021099986508488655
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.6843283772468567,
        "expert_target_speed": 0,
        "target_point": [
            8.84981054029355,
            0.26202211407164167
        ],
        "target_point_next": [
            27.34944466364375,
            0.16091392105670543
        ]
    },
    "425": {
        "acceleration": [
            -0.05605936050415039,
            0.6008720397949219,
            -0.025547025725245476
        ],
        "angular_velocity": [
            -0.9888142347335815,
            -0.1677626669406891,
            -0.4860975444316864
        ],
        "forward_vector": [
            -0.16232098639011383,
            0.9866999983787537,
            0.008659492246806622
        ],
        "right_vector": [
            -0.9867373108863831,
            -0.1623249351978302,
            -0.0002472400665283203
        ],
        "location": [
            931.5864868164062,
            3562.09619140625,
            370.8699951171875
        ],
        "rotation": [
            0.014166343957185745,
            0.49615857005119324,
            99.34199523925781
        ],
        "velocity": [
            -0.8436833620071411,
            5.196977615356445,
            0.005453472025692463
        ],
        "speed": 5.265014525131306,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 62.5589599609375,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                7.652677595615387e-06,
                3.264229690103093e-06,
                -0.0005265279323793948
            ],
            "speed_kmh": 0.001895737174268264,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.939947485923767,
                "transform": {
                    "location": {
                        "x": 927.1636352539062,
                        "y": 3628.552490234375,
                        "z": 370.9694519042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03869301825761795,
                        "yaw": -80.85746002197266
                    }
                },
                "velocity": {
                    "x": 0.00020797520119231194,
                    "y": -0.0012692718300968409,
                    "z": -1.9399470090866089
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.923683166503906,
                "transform": {
                    "location": {
                        "x": 893.5565185546875,
                        "y": 3574.420654296875,
                        "z": 371.21112060546875
                    },
                    "rotation": {
                        "roll": 0.004243057686835527,
                        "pitch": -0.41143691539764404,
                        "yaw": 9.273868560791016
                    }
                },
                "velocity": {
                    "x": 7.8202080726623535,
                    "y": 1.2752660512924194,
                    "z": -0.05289284884929657
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.696849346160889,
                "transform": {
                    "location": {
                        "x": 977.227783203125,
                        "y": 3584.993896484375,
                        "z": 370.4304504394531
                    },
                    "rotation": {
                        "roll": 0.0033017173409461975,
                        "pitch": 0.702587366104126,
                        "yaw": -170.44326782226562
                    }
                },
                "velocity": {
                    "x": -7.590145587921143,
                    "y": -1.274072289466858,
                    "z": 0.08899089694023132
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.430992126464844,
                "transform": {
                    "location": {
                        "x": 932.216064453125,
                        "y": 3617.9208984375,
                        "z": 370.88726806640625
                    },
                    "rotation": {
                        "roll": 0.017057830467820168,
                        "pitch": 0.3481142222881317,
                        "yaw": -80.28620910644531
                    }
                },
                "velocity": {
                    "x": 1.235097885131836,
                    "y": -7.3276286125183105,
                    "z": 0.005752572789788246
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.897620677947998,
                "transform": {
                    "location": {
                        "x": 929.9727172851562,
                        "y": 3611.6357421875,
                        "z": 370.8825378417969
                    },
                    "rotation": {
                        "roll": 0.001569446874782443,
                        "pitch": 0.022566944360733032,
                        "yaw": -80.65165710449219
                    }
                },
                "velocity": {
                    "x": 1.116638422012329,
                    "y": -6.806633949279785,
                    "z": 0.00501843448728323
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.7283325195312,
                        "y": 3416.3642578125,
                        "z": 370.3269958496094
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.4454345703125,
                        "y": 3401.2939453125,
                        "z": 370.2097473144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.13197660446167,
                "transform": {
                    "location": {
                        "x": 935.7640380859375,
                        "y": 3596.126708984375,
                        "z": 370.9035949707031
                    },
                    "rotation": {
                        "roll": 0.00375443440862,
                        "pitch": -0.05355551093816757,
                        "yaw": -80.66667175292969
                    }
                },
                "velocity": {
                    "x": 0.6498351097106934,
                    "y": -4.080556392669678,
                    "z": -0.0017602824373170733
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.157533168792725,
                "transform": {
                    "location": {
                        "x": 915.5062255859375,
                        "y": 3577.93896484375,
                        "z": 371.0445251464844
                    },
                    "rotation": {
                        "roll": 0.03967568650841713,
                        "pitch": -0.6233230233192444,
                        "yaw": 8.41514778137207
                    }
                },
                "velocity": {
                    "x": 4.1186604499816895,
                    "y": 0.5662538409233093,
                    "z": -0.032790593802928925
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.6971678733825684,
                "transform": {
                    "location": {
                        "x": 932.5819091796875,
                        "y": 3595.5068359375,
                        "z": 370.90545654296875
                    },
                    "rotation": {
                        "roll": -0.0009155507432296872,
                        "pitch": -0.2934863865375519,
                        "yaw": -80.98441314697266
                    }
                },
                "velocity": {
                    "x": 0.4412176311016083,
                    "y": -2.660834312438965,
                    "z": -0.0013903140788897872
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0013817473081871867,
                "transform": {
                    "location": {
                        "x": 952.9967041015625,
                        "y": 3581.02001953125,
                        "z": 370.6913146972656
                    },
                    "rotation": {
                        "roll": 0.0004697692347690463,
                        "pitch": 0.5327820181846619,
                        "yaw": -170.83395385742188
                    }
                },
                "velocity": {
                    "x": 0.00015441067807842046,
                    "y": 8.714981049706694e-06,
                    "z": 0.0013730648206546903
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.2132568359375,
                        "y": 3431.99267578125,
                        "z": 370.43218994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.9302978515625,
                        "y": 3416.92236328125,
                        "z": 370.3272705078125
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00018684622773434967,
                "transform": {
                    "location": {
                        "x": 924.6840209960938,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0013823898043483496,
                        "pitch": -0.03878864273428917,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 5.4820124205434695e-05,
                    "y": 7.176212875492638e-06,
                    "z": -0.00017847905110102147
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005265936488285661,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 4.473307853913866e-05,
                        "pitch": -0.03796219080686569,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 7.652677595615387e-06,
                    "y": 3.264229690103093e-06,
                    "z": -0.0005265279323793948
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040780067443848,
                "transform": {
                    "location": {
                        "x": 946.7525634765625,
                        "y": 3507.46435546875,
                        "z": 370.7613830566406
                    },
                    "rotation": {
                        "roll": -0.0012207013787701726,
                        "pitch": -0.16741475462913513,
                        "yaw": -80.86018371582031
                    }
                },
                "velocity": {
                    "x": 1.2790632247924805,
                    "y": -7.938365459442139,
                    "z": -0.022298797965049744
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076712608337402,
                "transform": {
                    "location": {
                        "x": 950.7017822265625,
                        "y": 3503.376220703125,
                        "z": 370.75103759765625
                    },
                    "rotation": {
                        "roll": -9.155432053375989e-05,
                        "pitch": -0.17754392325878143,
                        "yaw": -80.83872985839844
                    }
                },
                "velocity": {
                    "x": 1.2850309610366821,
                    "y": -7.973790645599365,
                    "z": -0.025333408266305923
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.8338012695312,
                        "y": 3448.5908203125,
                        "z": 370.52581787109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.3924560546875,
                        "y": 3463.760498046875,
                        "z": 370.5977783203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.3786544799804688,
                "transform": {
                    "location": {
                        "x": 936.2699584960938,
                        "y": 3530.42578125,
                        "z": 370.8205871582031
                    },
                    "rotation": {
                        "roll": 8.030838216654956e-06,
                        "pitch": 0.1564796268939972,
                        "yaw": 99.14109802246094
                    }
                },
                "velocity": {
                    "x": -0.5367928743362427,
                    "y": 3.3357348442077637,
                    "z": 0.005734386388212442
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6851181983947754,
                "transform": {
                    "location": {
                        "x": 933.851318359375,
                        "y": 3545.457763671875,
                        "z": 370.8598327636719
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": 0.0025203395634889603,
                        "yaw": 99.22259521484375
                    }
                },
                "velocity": {
                    "x": -0.4262624979019165,
                    "y": 2.6510655879974365,
                    "z": 0.00335350027307868
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.2981567382812,
                        "y": 3433.27783203125,
                        "z": 370.4371337890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.4693603515625,
                        "y": 3481.92333984375,
                        "z": 370.6737365722656
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053872108459473,
                "transform": {
                    "location": {
                        "x": 943.4754638671875,
                        "y": 3506.111572265625,
                        "z": 370.75732421875
                    },
                    "rotation": {
                        "roll": 0.0009167834068648517,
                        "pitch": 0.16813193261623383,
                        "yaw": 99.14241790771484
                    }
                },
                "velocity": {
                    "x": -1.279706597328186,
                    "y": 7.95151424407959,
                    "z": 0.025139225646853447
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039949417114258,
                "transform": {
                    "location": {
                        "x": 939.6929321289062,
                        "y": 3529.617431640625,
                        "z": 370.82342529296875
                    },
                    "rotation": {
                        "roll": -0.0012512225657701492,
                        "pitch": 0.14564011991024017,
                        "yaw": 99.14130401611328
                    }
                },
                "velocity": {
                    "x": -1.2781317234039307,
                    "y": 7.93767786026001,
                    "z": 0.02093137614428997
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4789506494998932,
        "expert_target_speed": 0,
        "target_point": [
            7.615834226575728,
            0.2808350079893607
        ],
        "target_point_next": [
            26.11563248507663,
            0.2164148303662099
        ]
    },
    "430": {
        "acceleration": [
            0.3524446487426758,
            -2.0236682891845703,
            -0.01623992808163166
        ],
        "angular_velocity": [
            -1.2175652980804443,
            -0.18377861380577087,
            -0.438976913690567
        ],
        "forward_vector": [
            -0.1603398323059082,
            0.987057089805603,
            0.003075594548135996
        ],
        "right_vector": [
            -0.9870617985725403,
            -0.1603398323059082,
            -0.0002474414650350809
        ],
        "location": [
            931.3809204101562,
            3563.36669921875,
            370.8723449707031
        ],
        "rotation": [
            0.014177419245243073,
            0.17621886730194092,
            99.22666931152344
        ],
        "velocity": [
            -0.7968851327896118,
            4.964167594909668,
            0.005245075095444918
        ],
        "speed": 5.02772173307278,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.27193832397461,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                3.105670111835934e-05,
                6.885775292175822e-06,
                -6.629911513300613e-05
            ],
            "speed_kmh": 0.0002647286687928068,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.08985913544893265,
                "transform": {
                    "location": {
                        "x": 927.1636352539062,
                        "y": 3628.552490234375,
                        "z": 370.77581787109375
                    },
                    "rotation": {
                        "roll": 1.666359639784787e-05,
                        "pitch": 0.03880913183093071,
                        "yaw": -80.85746002197266
                    }
                },
                "velocity": {
                    "x": 1.115909526561154e-05,
                    "y": 6.17807891103439e-05,
                    "z": 0.08985911309719086
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.67157506942749,
                "transform": {
                    "location": {
                        "x": 895.4860229492188,
                        "y": 3574.734619140625,
                        "z": 371.1980285644531
                    },
                    "rotation": {
                        "roll": 0.0035468207206577063,
                        "pitch": -0.4121950566768646,
                        "yaw": 9.23337459564209
                    }
                },
                "velocity": {
                    "x": 7.5724005699157715,
                    "y": 1.2284424304962158,
                    "z": -0.05234919488430023
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.704092025756836,
                "transform": {
                    "location": {
                        "x": 975.2384033203125,
                        "y": 3584.66064453125,
                        "z": 370.4538269042969
                    },
                    "rotation": {
                        "roll": 0.0038231327198445797,
                        "pitch": 0.7074846029281616,
                        "yaw": -170.53189086914062
                    }
                },
                "velocity": {
                    "x": -8.585765838623047,
                    "y": -1.4267438650131226,
                    "z": 0.10122020542621613
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.617352485656738,
                "transform": {
                    "location": {
                        "x": 932.5416259765625,
                        "y": 3615.985595703125,
                        "z": 370.8885803222656
                    },
                    "rotation": {
                        "roll": 0.011944460682570934,
                        "pitch": 0.3492138981819153,
                        "yaw": -80.39820861816406
                    }
                },
                "velocity": {
                    "x": 1.420893669128418,
                    "y": -8.49940013885498,
                    "z": 0.005842141807079315
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.06453275680542,
                "transform": {
                    "location": {
                        "x": 930.2154541015625,
                        "y": 3610.15625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0005501537816599011,
                        "pitch": -0.03421241417527199,
                        "yaw": -80.71806335449219
                    }
                },
                "velocity": {
                    "x": 0.6555812954902649,
                    "y": -4.0113139152526855,
                    "z": -0.0002965641033370048
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.3974609375,
                        "y": 3418.420654296875,
                        "z": 370.34112548828125
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.1145629882812,
                        "y": 3403.350341796875,
                        "z": 370.2268371582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004391829017549753,
                "transform": {
                    "location": {
                        "x": 935.8424072265625,
                        "y": 3595.6259765625,
                        "z": 370.91021728515625
                    },
                    "rotation": {
                        "roll": -0.009216316975653172,
                        "pitch": -0.9003008604049683,
                        "yaw": -80.5444107055664
                    }
                },
                "velocity": {
                    "x": -9.082019096240401e-05,
                    "y": -0.003942959010601044,
                    "z": -0.0019320937572047114
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.145973205566406,
                "transform": {
                    "location": {
                        "x": 916.5357055664062,
                        "y": 3578.0791015625,
                        "z": 371.03631591796875
                    },
                    "rotation": {
                        "roll": 0.024562371894717216,
                        "pitch": -0.5023193955421448,
                        "yaw": 8.046857833862305
                    }
                },
                "velocity": {
                    "x": 4.1086578369140625,
                    "y": 0.553992509841919,
                    "z": -0.03344064950942993
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.005843488499522209,
                "transform": {
                    "location": {
                        "x": 932.60302734375,
                        "y": 3595.387939453125,
                        "z": 370.9101867675781
                    },
                    "rotation": {
                        "roll": 0.014015287160873413,
                        "pitch": -0.9029783010482788,
                        "yaw": -81.07499694824219
                    }
                },
                "velocity": {
                    "x": -0.000942331098485738,
                    "y": 0.005586996674537659,
                    "z": -0.0014296291628852487
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00020156409300398082,
                "transform": {
                    "location": {
                        "x": 952.9965209960938,
                        "y": 3581.02001953125,
                        "z": 370.6910705566406
                    },
                    "rotation": {
                        "roll": 0.0003676206979434937,
                        "pitch": 0.5638525485992432,
                        "yaw": -170.8339080810547
                    }
                },
                "velocity": {
                    "x": 3.3595712011447176e-05,
                    "y": -1.5223976333800238e-05,
                    "z": 0.0001981606474146247
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.8823852539062,
                        "y": 3434.049072265625,
                        "z": 370.44537353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.5994262695312,
                        "y": 3418.978759765625,
                        "z": 370.34136962890625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00013026525266468525,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0009491946548223495,
                        "pitch": -0.03893890604376793,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.00011702581105055287,
                    "y": 2.1528336219489574e-05,
                    "z": 5.301439159666188e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.353574619628489e-05,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0002777566551230848,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 3.105670111835934e-05,
                    "y": 6.885775292175822e-06,
                    "z": -6.629911513300613e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040143966674805,
                "transform": {
                    "location": {
                        "x": 947.0721435546875,
                        "y": 3505.47998046875,
                        "z": 370.7555236816406
                    },
                    "rotation": {
                        "roll": -3.050919622182846e-05,
                        "pitch": -0.1676333248615265,
                        "yaw": -80.83956146240234
                    }
                },
                "velocity": {
                    "x": 1.2779982089996338,
                    "y": -7.937892436981201,
                    "z": -0.022366780787706375
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076224327087402,
                "transform": {
                    "location": {
                        "x": 951.0228881835938,
                        "y": 3501.38330078125,
                        "z": 370.74468994140625
                    },
                    "rotation": {
                        "roll": 0.00086908636149019,
                        "pitch": -0.19158679246902466,
                        "yaw": -80.86595916748047
                    }
                },
                "velocity": {
                    "x": 1.2835975885391235,
                    "y": -7.973526477813721,
                    "z": -0.025580691173672676
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.5028686523438,
                        "y": 3450.647216796875,
                        "z": 370.5364685058594
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.0614624023438,
                        "y": 3465.81689453125,
                        "z": 370.60638427734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.223870277404785,
                "transform": {
                    "location": {
                        "x": 936.1384887695312,
                        "y": 3531.2431640625,
                        "z": 370.8226013183594
                    },
                    "rotation": {
                        "roll": 0.00043615943286567926,
                        "pitch": 0.1333867609500885,
                        "yaw": 99.1396255493164
                    }
                },
                "velocity": {
                    "x": -0.5120877623558044,
                    "y": 3.182934284210205,
                    "z": 0.005968217737972736
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.723419666290283,
                "transform": {
                    "location": {
                        "x": 933.7238159179688,
                        "y": 3546.249267578125,
                        "z": 370.8612060546875
                    },
                    "rotation": {
                        "roll": 1.782752588042058e-05,
                        "pitch": -0.009493962861597538,
                        "yaw": 99.19500732421875
                    }
                },
                "velocity": {
                    "x": -0.5910220742225647,
                    "y": 3.67620849609375,
                    "z": 0.006122369784861803
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.9671630859375,
                        "y": 3435.334228515625,
                        "z": 370.4500732421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.1384887695312,
                        "y": 3483.97998046875,
                        "z": 370.6820983886719
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04410171508789,
                "transform": {
                    "location": {
                        "x": 943.15576171875,
                        "y": 3508.09814453125,
                        "z": 370.76318359375
                    },
                    "rotation": {
                        "roll": -3.0522536690114066e-05,
                        "pitch": 0.1684187948703766,
                        "yaw": 99.1399917602539
                    }
                },
                "velocity": {
                    "x": -1.27863609790802,
                    "y": 7.941790580749512,
                    "z": 0.024801893159747124
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038847923278809,
                "transform": {
                    "location": {
                        "x": 939.3736572265625,
                        "y": 3531.60107421875,
                        "z": 370.8283386230469
                    },
                    "rotation": {
                        "roll": -0.0003051782550755888,
                        "pitch": 0.13824301958084106,
                        "yaw": 99.14279174804688
                    }
                },
                "velocity": {
                    "x": -1.2773423194885254,
                    "y": 7.9366960525512695,
                    "z": 0.01821364276111126
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.31198009848594666,
        "expert_target_speed": 0,
        "target_point": [
            24.828113636736187,
            0.2697914330653375
        ],
        "target_point_next": [
            42.82800662110046,
            0.24338398173628573
        ]
    },
    "435": {
        "acceleration": [
            0.7096195220947266,
            -4.221410751342773,
            0.0035125715658068657
        ],
        "angular_velocity": [
            -1.2764054536819458,
            -0.14481085538864136,
            -0.4073010981082916
        ],
        "forward_vector": [
            -0.15844503045082092,
            0.9873670339584351,
            -0.0012478823773562908
        ],
        "right_vector": [
            -0.9873676896095276,
            -0.15844544768333435,
            -0.0002596793056000024
        ],
        "location": [
            931.192138671875,
            3564.549560546875,
            370.8741760253906
        ],
        "rotation": [
            0.014878540299832821,
            -0.07149841636419296,
            99.11666107177734
        ],
        "velocity": [
            -0.6852787137031555,
            4.335232257843018,
            0.002558116801083088
        ],
        "speed": 4.389059767751781,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.07413101196289,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                2.890237283281749e-06,
                1.758402163432038e-06,
                -0.001181444269604981
            ],
            "speed_kmh": 0.004253216808359633,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 880.44921875,
                        "y": 3572.22021484375,
                        "z": 371.372802734375
                    },
                    "rotation": {
                        "roll": -3.3351124084646244e-09,
                        "pitch": -0.3413386940956116,
                        "yaw": 9.140239715576172
                    }
                },
                "velocity": {
                    "x": -2.710300650576869e-09,
                    "y": -4.360717897888833e-10,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3470926582813263,
                "transform": {
                    "location": {
                        "x": 927.1649169921875,
                        "y": 3628.545166015625,
                        "z": 370.8605041503906
                    },
                    "rotation": {
                        "roll": -0.0008850134327076375,
                        "pitch": 0.05406094342470169,
                        "yaw": -80.8536148071289
                    }
                },
                "velocity": {
                    "x": 0.015972545370459557,
                    "y": -0.08602873980998993,
                    "z": 0.3358827829360962
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.341424465179443,
                "transform": {
                    "location": {
                        "x": 897.3356323242188,
                        "y": 3575.03466796875,
                        "z": 371.1856689453125
                    },
                    "rotation": {
                        "roll": 0.0035875563044101,
                        "pitch": -0.48073601722717285,
                        "yaw": 9.195929527282715
                    }
                },
                "velocity": {
                    "x": 7.247169017791748,
                    "y": 1.1714727878570557,
                    "z": -0.05202697962522507
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.169855117797852,
                "transform": {
                    "location": {
                        "x": 973.1448364257812,
                        "y": 3584.31298828125,
                        "z": 370.47894287109375
                    },
                    "rotation": {
                        "roll": 0.0014463193947449327,
                        "pitch": 0.66327965259552,
                        "yaw": -170.6387481689453
                    }
                },
                "velocity": {
                    "x": -8.060221672058105,
                    "y": -1.330507516860962,
                    "z": 0.09544382244348526
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.011151313781738,
                "transform": {
                    "location": {
                        "x": 932.8872680664062,
                        "y": 3613.9208984375,
                        "z": 370.892578125
                    },
                    "rotation": {
                        "roll": 0.003100747475400567,
                        "pitch": 0.021699510514736176,
                        "yaw": -80.5196304321289
                    }
                },
                "velocity": {
                    "x": 1.3161059617996216,
                    "y": -7.9023027420043945,
                    "z": 0.0056771752424538136
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.31458213925361633,
                "transform": {
                    "location": {
                        "x": 930.2632446289062,
                        "y": 3609.864501953125,
                        "z": 370.8846130371094
                    },
                    "rotation": {
                        "roll": 0.00029231118969619274,
                        "pitch": -0.0994885265827179,
                        "yaw": -80.7307357788086
                    }
                },
                "velocity": {
                    "x": 0.0505475252866745,
                    "y": -0.3104889690876007,
                    "z": 0.0018638229230418801
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.0665283203125,
                        "y": 3420.47705078125,
                        "z": 370.3551330566406
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.7836303710938,
                        "y": 3405.40673828125,
                        "z": 370.2437438964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006524444092065096,
                "transform": {
                    "location": {
                        "x": 935.8432006835938,
                        "y": 3595.62158203125,
                        "z": 370.90545654296875
                    },
                    "rotation": {
                        "roll": -0.0032959249801933765,
                        "pitch": -0.3220229148864746,
                        "yaw": -80.54472351074219
                    }
                },
                "velocity": {
                    "x": -0.0007245003944262862,
                    "y": 0.0064523182809352875,
                    "z": -0.0006411350914277136
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.178396701812744,
                "transform": {
                    "location": {
                        "x": 917.5469970703125,
                        "y": 3578.214599609375,
                        "z": 371.0281677246094
                    },
                    "rotation": {
                        "roll": 0.018692027777433395,
                        "pitch": -0.47607100009918213,
                        "yaw": 7.819280624389648
                    }
                },
                "velocity": {
                    "x": 4.1417059898376465,
                    "y": 0.5515275597572327,
                    "z": -0.03298887982964516
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004604252986609936,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.9031677246094
                    },
                    "rotation": {
                        "roll": 0.002412631409242749,
                        "pitch": -0.03823539614677429,
                        "yaw": -81.0749282836914
                    }
                },
                "velocity": {
                    "x": -0.001029438921250403,
                    "y": 0.004482103977352381,
                    "z": -0.00022392673417925835
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00015030916256364435,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0016784616746008396,
                        "pitch": 0.5692210793495178,
                        "yaw": -170.83387756347656
                    }
                },
                "velocity": {
                    "x": 1.883029835880734e-05,
                    "y": -6.994157956796698e-06,
                    "z": -0.00014896088396199048
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.5513916015625,
                        "y": 3436.10546875,
                        "z": 370.4578552246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.2684936523438,
                        "y": 3421.034912109375,
                        "z": 370.3554992675781
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009075032430700958,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0006271268939599395,
                        "pitch": -0.03906184807419777,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 7.783546607242897e-05,
                    "y": 1.658573637541849e-05,
                    "z": -0.0009040069999173284
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.02734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011814491590484977,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0002777566551230848,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.890237283281749e-06,
                    "y": 1.758402163432038e-06,
                    "z": -0.001181444269604981
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041887283325195,
                "transform": {
                    "location": {
                        "x": 947.3915405273438,
                        "y": 3503.49560546875,
                        "z": 370.74957275390625
                    },
                    "rotation": {
                        "roll": 0.0002923254214692861,
                        "pitch": -0.17455913126468658,
                        "yaw": -80.87032318115234
                    }
                },
                "velocity": {
                    "x": 1.277809977531433,
                    "y": -7.93967866897583,
                    "z": -0.025592345744371414
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076512336730957,
                "transform": {
                    "location": {
                        "x": 951.3435668945312,
                        "y": 3499.389892578125,
                        "z": 370.738037109375
                    },
                    "rotation": {
                        "roll": 0.00021772680338472128,
                        "pitch": -0.19021393358707428,
                        "yaw": -80.84220123291016
                    }
                },
                "velocity": {
                    "x": 1.283359169960022,
                    "y": -7.973857402801514,
                    "z": -0.02535390295088291
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.1719360351562,
                        "y": 3452.70361328125,
                        "z": 370.54681396484375
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.7305908203125,
                        "y": 3467.873291015625,
                        "z": 370.6150207519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6086666584014893,
                "transform": {
                    "location": {
                        "x": 936.005126953125,
                        "y": 3532.072021484375,
                        "z": 370.8244934082031
                    },
                    "rotation": {
                        "roll": 0.0006751632899977267,
                        "pitch": 0.13174067437648773,
                        "yaw": 99.13957214355469
                    }
                },
                "velocity": {
                    "x": -0.573258101940155,
                    "y": 3.562836170196533,
                    "z": 0.006926937028765678
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.83309268951416,
                "transform": {
                    "location": {
                        "x": 933.5525512695312,
                        "y": 3547.31201171875,
                        "z": 370.863037109375
                    },
                    "rotation": {
                        "roll": -0.00030517656705342233,
                        "pitch": -0.02020369842648506,
                        "yaw": 99.17247009277344
                    }
                },
                "velocity": {
                    "x": -0.7670621871948242,
                    "y": 4.771829605102539,
                    "z": 0.006691036280244589
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.6362915039062,
                        "y": 3437.390625,
                        "z": 370.4624938964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.8074951171875,
                        "y": 3486.0361328125,
                        "z": 370.69000244140625
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055537223815918,
                "transform": {
                    "location": {
                        "x": 942.8360595703125,
                        "y": 3510.0849609375,
                        "z": 370.76904296875
                    },
                    "rotation": {
                        "roll": -0.0003051653038710356,
                        "pitch": 0.16566622257232666,
                        "yaw": 99.14163208007812
                    }
                },
                "velocity": {
                    "x": -1.2797044515609741,
                    "y": 7.953208923339844,
                    "z": 0.022388534620404243
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040911674499512,
                "transform": {
                    "location": {
                        "x": 939.0542602539062,
                        "y": 3533.58544921875,
                        "z": 370.8328857421875
                    },
                    "rotation": {
                        "roll": 0.00011538641410879791,
                        "pitch": 0.11919362097978592,
                        "yaw": 99.14427185058594
                    }
                },
                "velocity": {
                    "x": -1.277031660079956,
                    "y": 7.938837051391602,
                    "z": 0.01785866729915142
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.312064528465271,
        "expert_target_speed": 0,
        "target_point": [
            23.629719087841103,
            0.3184876916912147
        ],
        "target_point_next": [
            41.629629595267865,
            0.3266440805623425
        ]
    },
    "440": {
        "acceleration": [
            0.6403052806854248,
            -3.951582908630371,
            -0.012402725405991077
        ],
        "angular_velocity": [
            -0.4713153541088104,
            -0.03514955937862396,
            -0.9406699538230896
        ],
        "forward_vector": [
            -0.1568433791399002,
            0.9876092076301575,
            -0.005318854935467243
        ],
        "right_vector": [
            -0.9876230359077454,
            -0.15684644877910614,
            -0.00016049364057835191
        ],
        "location": [
            931.0439453125,
            3565.489990234375,
            370.8758239746094
        ],
        "rotation": [
            0.009195738472044468,
            -0.30474936962127686,
            99.02384948730469
        ],
        "velocity": [
            -0.5115824341773987,
            3.2733705043792725,
            0.001872215187177062
        ],
        "speed": 3.3131059515051864,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 59.12213134765625,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -2.740001946222037e-06,
                1.8561305523689953e-06,
                -0.0003176064637955278
            ],
            "speed_kmh": 0.0011434453419559962,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 986.4259033203125,
                        "y": 3586.569091796875,
                        "z": 370.70806884765625
                    },
                    "rotation": {
                        "roll": 6.670674679298827e-09,
                        "pitch": 0.747953474521637,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.939948558807373,
                "transform": {
                    "location": {
                        "x": 930.372314453125,
                        "y": 3629.068603515625,
                        "z": 370.9694519042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03869301825761795,
                        "yaw": -80.85746002197266
                    }
                },
                "velocity": {
                    "x": 0.00020671459787990898,
                    "y": -0.0012656237231567502,
                    "z": -1.9399480819702148
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.15852883458137512,
                "transform": {
                    "location": {
                        "x": 880.4486694335938,
                        "y": 3572.22021484375,
                        "z": 371.2427978515625
                    },
                    "rotation": {
                        "roll": 8.29475829959847e-05,
                        "pitch": -0.34219247102737427,
                        "yaw": 9.140202522277832
                    }
                },
                "velocity": {
                    "x": 0.0009320275275968015,
                    "y": 0.00021195484441705048,
                    "z": 0.1585259586572647
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8467381000518799,
                "transform": {
                    "location": {
                        "x": 927.1847534179688,
                        "y": 3628.428955078125,
                        "z": 370.89776611328125
                    },
                    "rotation": {
                        "roll": -0.006561280228197575,
                        "pitch": 0.17384196817874908,
                        "yaw": -80.75358581542969
                    }
                },
                "velocity": {
                    "x": 0.14855679869651794,
                    "y": -0.8335838317871094,
                    "z": 0.005860357079654932
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.028509616851807,
                "transform": {
                    "location": {
                        "x": 899.1046752929688,
                        "y": 3575.320556640625,
                        "z": 371.1730041503906
                    },
                    "rotation": {
                        "roll": 0.0009828784968703985,
                        "pitch": -0.4832426905632019,
                        "yaw": 9.1795015335083
                    }
                },
                "velocity": {
                    "x": 6.938292026519775,
                    "y": 1.1214613914489746,
                    "z": -0.04873746261000633
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.671824932098389,
                "transform": {
                    "location": {
                        "x": 971.2042236328125,
                        "y": 3583.99267578125,
                        "z": 370.5015869140625
                    },
                    "rotation": {
                        "roll": 0.002007960807532072,
                        "pitch": 0.6318607926368713,
                        "yaw": -170.68637084960938
                    }
                },
                "velocity": {
                    "x": -7.569698810577393,
                    "y": -1.2448711395263672,
                    "z": 0.08280404657125473
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.140993595123291,
                "transform": {
                    "location": {
                        "x": 933.1364135742188,
                        "y": 3612.3837890625,
                        "z": 370.8993225097656
                    },
                    "rotation": {
                        "roll": 0.014276213943958282,
                        "pitch": -0.6819806694984436,
                        "yaw": -79.99988555908203
                    }
                },
                "velocity": {
                    "x": 0.8285397887229919,
                    "y": -5.073787212371826,
                    "z": 0.004283247049897909
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0364645719528198,
                "transform": {
                    "location": {
                        "x": 930.2914428710938,
                        "y": 3609.686279296875,
                        "z": 370.883544921875
                    },
                    "rotation": {
                        "roll": 0.0001360651949653402,
                        "pitch": 0.040100038051605225,
                        "yaw": -80.6517333984375
                    }
                },
                "velocity": {
                    "x": 0.16660356521606445,
                    "y": -1.0229854583740234,
                    "z": 0.0016811274690553546
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7355346679688,
                        "y": 3422.533447265625,
                        "z": 370.3692626953125
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.4526977539062,
                        "y": 3407.463134765625,
                        "z": 370.2593994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0008138667326420546,
                "transform": {
                    "location": {
                        "x": 935.84375,
                        "y": 3595.6181640625,
                        "z": 370.9019470214844
                    },
                    "rotation": {
                        "roll": 0.0012209286214783788,
                        "pitch": 0.11301913112401962,
                        "yaw": -80.54479217529297
                    }
                },
                "velocity": {
                    "x": -2.392973874520976e-05,
                    "y": 0.0007200318505056202,
                    "z": 0.00037862989120185375
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.4001641273498535,
                "transform": {
                    "location": {
                        "x": 918.6669921875,
                        "y": 3578.363037109375,
                        "z": 371.0191650390625
                    },
                    "rotation": {
                        "roll": 0.018378326669335365,
                        "pitch": -0.4298989176750183,
                        "yaw": 7.6609930992126465
                    }
                },
                "velocity": {
                    "x": 4.3621344566345215,
                    "y": 0.5760945677757263,
                    "z": -0.036619484424591064
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000950546411331743,
                "transform": {
                    "location": {
                        "x": 932.604248046875,
                        "y": 3595.3798828125,
                        "z": 370.90185546875
                    },
                    "rotation": {
                        "roll": -0.0007934642489999533,
                        "pitch": 0.12210328876972198,
                        "yaw": -81.07493591308594
                    }
                },
                "velocity": {
                    "x": 0.00015228184929583222,
                    "y": -0.000670197419822216,
                    "z": 0.0006566461524926126
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002828750293701887,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0005493204807862639,
                        "pitch": 0.5701090097427368,
                        "yaw": -170.83384704589844
                    }
                },
                "velocity": {
                    "x": 1.5152096239035018e-05,
                    "y": -7.4464455792622175e-06,
                    "z": -0.0002823707472998649
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2203979492188,
                        "y": 3438.161865234375,
                        "z": 370.47027587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.9375610351562,
                        "y": 3423.091552734375,
                        "z": 370.3695983886719
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00015415303641930223,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0006407672190107405,
                        "pitch": -0.03893890604376793,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 8.334974700119346e-05,
                    "y": 2.662747647264041e-05,
                    "z": 0.00012691317533608526
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.13496387004852295,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8515625
                    },
                    "rotation": {
                        "roll": -0.00018310447921976447,
                        "pitch": -0.04339902102947235,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 8.794828318059444e-05,
                    "y": -8.555196109227836e-05,
                    "z": -0.13496381044387817
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003176236932631582,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": -6.103482155594975e-05,
                        "pitch": -0.03802366182208061,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.740001946222037e-06,
                    "y": 1.8561305523689953e-06,
                    "z": -0.0003176064637955278
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4100622534751892,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": -0.000854494224768132,
                        "pitch": -0.0458715483546257,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0003455831902101636,
                    "y": -0.00031665858114138246,
                    "z": -0.4100619852542877
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040714263916016,
                "transform": {
                    "location": {
                        "x": 947.7109375,
                        "y": 3501.51123046875,
                        "z": 370.7432861328125
                    },
                    "rotation": {
                        "roll": 0.00026836650795303285,
                        "pitch": -0.18892985582351685,
                        "yaw": -80.84571838378906
                    }
                },
                "velocity": {
                    "x": 1.2771631479263306,
                    "y": -7.938594341278076,
                    "z": -0.02572786808013916
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.6434936523438,
                        "y": 3497.3681640625,
                        "z": 370.7302551269531
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": -0.19894291460514069,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.8409423828125,
                        "y": 3454.760009765625,
                        "z": 370.5570983886719
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.399658203125,
                        "y": 3469.9296875,
                        "z": 370.6237487792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.32257080078125,
                "transform": {
                    "location": {
                        "x": 935.8472290039062,
                        "y": 3533.0537109375,
                        "z": 370.8266296386719
                    },
                    "rotation": {
                        "roll": 0.0004680492857005447,
                        "pitch": 0.13162456452846527,
                        "yaw": 99.13775634765625
                    }
                },
                "velocity": {
                    "x": -0.6864359974861145,
                    "y": 4.267709732055664,
                    "z": 0.008871135301887989
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.258538722991943,
                "transform": {
                    "location": {
                        "x": 933.3468627929688,
                        "y": 3548.58984375,
                        "z": 370.8648376464844
                    },
                    "rotation": {
                        "roll": -6.103482155594975e-05,
                        "pitch": 0.03505253046751022,
                        "yaw": 99.16373443603516
                    }
                },
                "velocity": {
                    "x": -0.8349381685256958,
                    "y": 5.1918230056762695,
                    "z": 0.008877277374267578
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.305419921875,
                        "y": 3439.44677734375,
                        "z": 370.47491455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.4766235351562,
                        "y": 3488.092529296875,
                        "z": 370.6979675292969
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04266357421875,
                "transform": {
                    "location": {
                        "x": 942.516357421875,
                        "y": 3512.07177734375,
                        "z": 370.7746276855469
                    },
                    "rotation": {
                        "roll": 9.725052223075181e-05,
                        "pitch": 0.15811887383460999,
                        "yaw": 99.14176177978516
                    }
                },
                "velocity": {
                    "x": -1.2778208255767822,
                    "y": 7.940476417541504,
                    "z": 0.021297186613082886
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037813186645508,
                "transform": {
                    "location": {
                        "x": 938.7349243164062,
                        "y": 3535.569580078125,
                        "z": 370.8369445800781
                    },
                    "rotation": {
                        "roll": -0.0007629417232237756,
                        "pitch": 0.11799833923578262,
                        "yaw": 99.14290618896484
                    }
                },
                "velocity": {
                    "x": -1.2771183252334595,
                    "y": 7.9356865882873535,
                    "z": 0.01709778793156147
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3115679919719696,
        "expert_target_speed": 0,
        "target_point": [
            22.677138688720763,
            0.35790040699155545
        ],
        "target_point_next": [
            40.67701237909387,
            0.39520902082182996
        ]
    },
    "445": {
        "acceleration": [
            0.530356764793396,
            -3.3461427688598633,
            -0.008999253623187542
        ],
        "angular_velocity": [
            0.04066404327750206,
            -0.008494012989103794,
            0.6750503182411194
        ],
        "forward_vector": [
            -0.15578846633434296,
            0.9877719283103943,
            -0.006051742006093264
        ],
        "right_vector": [
            -0.9877899289131165,
            -0.15579186379909515,
            -9.298836084781215e-05
        ],
        "location": [
            930.9351196289062,
            3566.1875,
            370.8765869140625
        ],
        "rotation": [
            0.005327938124537468,
            -0.34674137830734253,
            98.96269226074219
        ],
        "velocity": [
            -0.3679218590259552,
            2.373861312866211,
            0.0017794608138501644
        ],
        "speed": 2.402203993642506,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 58.41621780395508,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                2.203998121785844e-07,
                3.063077883780352e-06,
                -0.0009008164633996785
            ],
            "speed_kmh": 0.003242958113132697,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4529378414154053,
                "transform": {
                    "location": {
                        "x": 986.425048828125,
                        "y": 3586.568603515625,
                        "z": 370.3080139160156
                    },
                    "rotation": {
                        "roll": 0.0006815015804022551,
                        "pitch": 0.7400304675102234,
                        "yaw": -170.74755859375
                    }
                },
                "velocity": {
                    "x": -0.01840226538479328,
                    "y": -0.002879092702642083,
                    "z": -1.452818512916565
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.08983571827411652,
                "transform": {
                    "location": {
                        "x": 930.372314453125,
                        "y": 3629.068603515625,
                        "z": 370.77581787109375
                    },
                    "rotation": {
                        "roll": 6.802842835895717e-05,
                        "pitch": 0.03880230337381363,
                        "yaw": -80.85746002197266
                    }
                },
                "velocity": {
                    "x": -3.8666690670652315e-05,
                    "y": 5.3943153034197167e-05,
                    "z": 0.08983568847179413
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3193000555038452,
                "transform": {
                    "location": {
                        "x": 880.541748046875,
                        "y": 3572.236083984375,
                        "z": 371.27093505859375
                    },
                    "rotation": {
                        "roll": -0.0021972667891532183,
                        "pitch": -0.27517464756965637,
                        "yaw": 9.14396858215332
                    }
                },
                "velocity": {
                    "x": 1.2982674837112427,
                    "y": 0.2261069118976593,
                    "z": 0.06268779933452606
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6372791528701782,
                "transform": {
                    "location": {
                        "x": 927.2360229492188,
                        "y": 3628.128662109375,
                        "z": 370.8853454589844
                    },
                    "rotation": {
                        "roll": 2.2611849999520928e-05,
                        "pitch": 0.23452819883823395,
                        "yaw": -80.67261505126953
                    }
                },
                "velocity": {
                    "x": 0.27474895119667053,
                    "y": -1.6131020784378052,
                    "z": -0.055659301578998566
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.861508846282959,
                "transform": {
                    "location": {
                        "x": 900.8179321289062,
                        "y": 3575.597412109375,
                        "z": 371.16058349609375
                    },
                    "rotation": {
                        "roll": 0.0012485263869166374,
                        "pitch": -0.45461738109588623,
                        "yaw": 9.172290802001953
                    }
                },
                "velocity": {
                    "x": 6.773760795593262,
                    "y": 1.0927412509918213,
                    "z": -0.04883698374032974
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.333632946014404,
                "transform": {
                    "location": {
                        "x": 969.4471435546875,
                        "y": 3583.704345703125,
                        "z": 370.52154541015625
                    },
                    "rotation": {
                        "roll": 0.0006615062011405826,
                        "pitch": 0.5617762207984924,
                        "yaw": -170.7069549560547
                    }
                },
                "velocity": {
                    "x": -6.249972343444824,
                    "y": -1.0237109661102295,
                    "z": 0.06906675547361374
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.773502349853516,
                "transform": {
                    "location": {
                        "x": 933.3585815429688,
                        "y": 3611.045654296875,
                        "z": 370.8948059082031
                    },
                    "rotation": {
                        "roll": 0.00047005072701722383,
                        "pitch": -0.0037224527914077044,
                        "yaw": -80.25078582763672
                    }
                },
                "velocity": {
                    "x": 0.9376357793807983,
                    "y": -5.696854114532471,
                    "z": 0.004572934936732054
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.558193564414978,
                "transform": {
                    "location": {
                        "x": 930.3446044921875,
                        "y": 3609.36181640625,
                        "z": 370.8835754394531
                    },
                    "rotation": {
                        "roll": 0.00019658147357404232,
                        "pitch": 0.05934068188071251,
                        "yaw": -80.69328308105469
                    }
                },
                "velocity": {
                    "x": 0.2500486969947815,
                    "y": -1.5379986763000488,
                    "z": 0.0017838954227045178
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.4046630859375,
                        "y": 3424.58984375,
                        "z": 370.3833923339844
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.1217651367188,
                        "y": 3409.519287109375,
                        "z": 370.2752380371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0008310446864925325,
                "transform": {
                    "location": {
                        "x": 935.8436279296875,
                        "y": 3595.618408203125,
                        "z": 370.9022521972656
                    },
                    "rotation": {
                        "roll": 0.0011905949795618653,
                        "pitch": 0.07429196685552597,
                        "yaw": -80.54473876953125
                    }
                },
                "velocity": {
                    "x": 9.591013804310933e-05,
                    "y": -0.0006838570116087794,
                    "z": 0.0004623592540156096
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.180224418640137,
                "transform": {
                    "location": {
                        "x": 919.69091796875,
                        "y": 3578.497802734375,
                        "z": 371.0106506347656
                    },
                    "rotation": {
                        "roll": 0.015207787044346333,
                        "pitch": -0.5040816068649292,
                        "yaw": 7.570545196533203
                    }
                },
                "velocity": {
                    "x": 4.144545555114746,
                    "y": 0.5439684987068176,
                    "z": -0.0334366112947464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0008184106554836035,
                "transform": {
                    "location": {
                        "x": 932.6041870117188,
                        "y": 3595.380615234375,
                        "z": 370.9024658203125
                    },
                    "rotation": {
                        "roll": -0.0008544942829757929,
                        "pitch": 0.04929347336292267,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 0.00013030722038820386,
                    "y": -0.0006648752023465931,
                    "z": 0.00045908274478279054
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1047771951998584e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.00039673090213909745,
                        "pitch": 0.5704710483551025,
                        "yaw": -170.83383178710938
                    }
                },
                "velocity": {
                    "x": 1.6213505659834482e-05,
                    "y": 2.8136091714259237e-06,
                    "z": -1.3123054486641195e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8895263671875,
                        "y": 3440.218017578125,
                        "z": 370.4822998046875
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.6066284179688,
                        "y": 3425.147705078125,
                        "z": 370.3836975097656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.439198528416455e-05,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0009869307978078723,
                        "pitch": -0.03900037705898285,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -8.899182830646168e-06,
                    "y": -4.3735838062275434e-07,
                    "z": -4.3488638766575605e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0640406608581543,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.86041259765625
                    },
                    "rotation": {
                        "roll": 0.00015682591765653342,
                        "pitch": -0.04387713223695755,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 9.527186921332031e-05,
                    "y": 6.40629805275239e-05,
                    "z": 0.06404055655002594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009008217020891607,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": -3.0515742764691822e-05,
                        "pitch": -0.03796219080686569,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.203998121785844e-07,
                    "y": 3.063077883780352e-06,
                    "z": -0.0009008164633996785
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.011869387701153755,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8705139160156
                    },
                    "rotation": {
                        "roll": -0.0018615738954395056,
                        "pitch": -0.045434415340423584,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.0004547587304841727,
                    "y": -0.0001456073805456981,
                    "z": 0.011859779246151447
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039983749389648,
                "transform": {
                    "location": {
                        "x": 948.0302124023438,
                        "y": 3499.52685546875,
                        "z": 370.7366638183594
                    },
                    "rotation": {
                        "roll": 0.00017675878189038485,
                        "pitch": -0.1888069063425064,
                        "yaw": -80.87351989746094
                    }
                },
                "velocity": {
                    "x": 1.2769887447357178,
                    "y": -7.937882900238037,
                    "z": -0.025444883853197098
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.9114379882812,
                        "y": 3495.302490234375,
                        "z": 370.72088623046875
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": -0.19894291460514069,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.5100708007812,
                        "y": 3456.816162109375,
                        "z": 370.5666809082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.0687255859375,
                        "y": 3471.98583984375,
                        "z": 370.63238525390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.095498561859131,
                "transform": {
                    "location": {
                        "x": 935.6599731445312,
                        "y": 3534.218017578125,
                        "z": 370.82916259765625
                    },
                    "rotation": {
                        "roll": 0.0007481211214326322,
                        "pitch": 0.13473913073539734,
                        "yaw": 99.1377944946289
                    }
                },
                "velocity": {
                    "x": -0.8092053532600403,
                    "y": 5.030812740325928,
                    "z": 0.014683503657579422
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.876088619232178,
                "transform": {
                    "location": {
                        "x": 933.1214599609375,
                        "y": 3549.9873046875,
                        "z": 370.8666687011719
                    },
                    "rotation": {
                        "roll": -0.0009765636641532183,
                        "pitch": 0.030209925025701523,
                        "yaw": 99.0933609008789
                    }
                },
                "velocity": {
                    "x": -0.9310644268989563,
                    "y": 5.801852226257324,
                    "z": 0.00669452641159296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.9744262695312,
                        "y": 3441.50341796875,
                        "z": 370.4867248535156
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.1456298828125,
                        "y": 3490.14892578125,
                        "z": 370.7056579589844
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05587387084961,
                "transform": {
                    "location": {
                        "x": 942.196533203125,
                        "y": 3514.05859375,
                        "z": 370.7801513671875
                    },
                    "rotation": {
                        "roll": -0.001251223380677402,
                        "pitch": 0.15878823399543762,
                        "yaw": 99.1452407836914
                    }
                },
                "velocity": {
                    "x": -1.2803256511688232,
                    "y": 7.953452110290527,
                    "z": 0.021665964275598526
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041852951049805,
                "transform": {
                    "location": {
                        "x": 938.4154663085938,
                        "y": 3537.55419921875,
                        "z": 370.8410339355469
                    },
                    "rotation": {
                        "roll": -0.0003967320953961462,
                        "pitch": 0.11933022737503052,
                        "yaw": 99.14607238769531
                    }
                },
                "velocity": {
                    "x": -1.2784204483032227,
                    "y": 7.939568996429443,
                    "z": 0.016961287707090378
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.31826311349868774,
        "expert_target_speed": 0,
        "target_point": [
            21.970796577273955,
            0.38326952748187937
        ],
        "target_point_next": [
            39.970620203904815,
            0.4397868897103434
        ]
    },
    "450": {
        "acceleration": [
            2.450629472732544,
            -16.664148330688477,
            -0.030881881713867188
        ],
        "angular_velocity": [
            -3.4615724086761475,
            -0.2642861008644104,
            -1.79715096950531
        ],
        "forward_vector": [
            -0.15344206988811493,
            0.9881337881088257,
            -0.006872480269521475
        ],
        "right_vector": [
            -0.9881571531295776,
            -0.15344519913196564,
            7.243639993248507e-05
        ],
        "location": [
            930.8605346679688,
            3566.666259765625,
            370.87725830078125
        ],
        "rotation": [
            -0.004150398075580597,
            -0.39376720786094666,
            98.82666015625
        ],
        "velocity": [
            -0.1497233510017395,
            0.9328216910362244,
            0.0010196304647251964
        ],
        "speed": 0.9447610222182493,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.93170928955078,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                1.2731283277389593e-05,
                5.121864433021983e-06,
                -0.00018993832054547966
            ],
            "speed_kmh": 0.0006855602857977744,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.25656139850616455,
                "transform": {
                    "location": {
                        "x": 986.4246826171875,
                        "y": 3586.568603515625,
                        "z": 370.2708435058594
                    },
                    "rotation": {
                        "roll": -0.00012206625251565129,
                        "pitch": 0.7327290177345276,
                        "yaw": -170.7475128173828
                    }
                },
                "velocity": {
                    "x": 0.0032668912317603827,
                    "y": 0.0005097437533549964,
                    "z": 0.25654008984565735
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3480420410633087,
                "transform": {
                    "location": {
                        "x": 930.3735961914062,
                        "y": 3629.061279296875,
                        "z": 370.8605041503906
                    },
                    "rotation": {
                        "roll": -0.0009460466098971665,
                        "pitch": 0.05430000275373459,
                        "yaw": -80.85435485839844
                    }
                },
                "velocity": {
                    "x": 0.016676966100931168,
                    "y": -0.08972594141960144,
                    "z": 0.3358636498451233
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9646930694580078,
                "transform": {
                    "location": {
                        "x": 880.9193725585938,
                        "y": 3572.29931640625,
                        "z": 371.2755126953125
                    },
                    "rotation": {
                        "roll": -0.0005493165808729827,
                        "pitch": -0.28268784284591675,
                        "yaw": 9.351765632629395
                    }
                },
                "velocity": {
                    "x": 1.936697244644165,
                    "y": 0.3304749131202698,
                    "z": -0.002960634185001254
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.0190653800964355,
                "transform": {
                    "location": {
                        "x": 927.3314819335938,
                        "y": 3627.565185546875,
                        "z": 370.8777770996094
                    },
                    "rotation": {
                        "roll": -0.002838148968294263,
                        "pitch": 0.32415392994880676,
                        "yaw": -80.61051940917969
                    }
                },
                "velocity": {
                    "x": 0.5066688060760498,
                    "y": -2.976245403289795,
                    "z": -0.0024894140660762787
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.594412803649902,
                "transform": {
                    "location": {
                        "x": 902.4780883789062,
                        "y": 3575.865234375,
                        "z": 371.1485595703125
                    },
                    "rotation": {
                        "roll": 0.00042940190178342164,
                        "pitch": -0.45962390303611755,
                        "yaw": 9.160676956176758
                    }
                },
                "velocity": {
                    "x": 6.510149955749512,
                    "y": 1.0497171878814697,
                    "z": -0.0481729656457901
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.141304016113281,
                "transform": {
                    "location": {
                        "x": 967.9356079101562,
                        "y": 3583.456787109375,
                        "z": 370.5374450683594
                    },
                    "rotation": {
                        "roll": 0.0007303009042516351,
                        "pitch": 0.5820959806442261,
                        "yaw": -170.7163543701172
                    }
                },
                "velocity": {
                    "x": -6.060667037963867,
                    "y": -0.9897950291633606,
                    "z": 0.0650700181722641
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.102726459503174,
                "transform": {
                    "location": {
                        "x": 933.6163330078125,
                        "y": 3609.492431640625,
                        "z": 370.8931579589844
                    },
                    "rotation": {
                        "roll": 0.00608478020876646,
                        "pitch": 0.3213125765323639,
                        "yaw": -80.59687805175781
                    }
                },
                "velocity": {
                    "x": 0.9853336215019226,
                    "y": -6.022653579711914,
                    "z": 0.005373277701437473
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1053035259246826,
                "transform": {
                    "location": {
                        "x": 930.4193725585938,
                        "y": 3608.90185546875,
                        "z": 370.88397216796875
                    },
                    "rotation": {
                        "roll": 0.0002188312791986391,
                        "pitch": 0.05675886943936348,
                        "yaw": -80.68175506591797
                    }
                },
                "velocity": {
                    "x": 0.33802536129951477,
                    "y": -2.077988624572754,
                    "z": 0.0021350765600800514
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.0736694335938,
                        "y": 3426.646240234375,
                        "z": 370.397216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.790771484375,
                        "y": 3411.575927734375,
                        "z": 370.2900695800781
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001208829809911549,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.9028015136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.004938226658850908,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 4.471137435757555e-05,
                    "y": -0.0002842509711626917,
                    "z": 0.0011740834452211857
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.388157367706299,
                "transform": {
                    "location": {
                        "x": 920.8783569335938,
                        "y": 3578.639404296875,
                        "z": 371.0013122558594
                    },
                    "rotation": {
                        "roll": 0.14881710708141327,
                        "pitch": -0.29196324944496155,
                        "yaw": 6.947506904602051
                    }
                },
                "velocity": {
                    "x": 5.364377498626709,
                    "y": 0.503883957862854,
                    "z": -0.04237230867147446
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.2978208512067795e-05,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.9028015136719
                    },
                    "rotation": {
                        "roll": 5.722054993384518e-05,
                        "pitch": 0.0032716605346649885,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -1.8471811245035497e-06,
                    "y": 9.98399900709046e-06,
                    "z": 4.176163565716706e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013072426372673362,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0005188031936995685,
                        "pitch": 0.5704027414321899,
                        "yaw": -170.83383178710938
                    }
                },
                "velocity": {
                    "x": 1.3685970770893618e-05,
                    "y": -4.739546966447961e-06,
                    "z": -0.00012991944095119834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.55859375,
                        "y": 3442.2744140625,
                        "z": 370.4940185546875
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.2755737304688,
                        "y": 3427.204345703125,
                        "z": 370.3974914550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010753946844488382,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0008064293651841581,
                        "pitch": -0.03887743502855301,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -5.015115311834961e-05,
                    "y": -7.038630428723991e-05,
                    "z": -0.0010719161946326494
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.008742278441786766,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8683776855469
                    },
                    "rotation": {
                        "roll": 6.222711090231314e-05,
                        "pitch": -0.04387713223695755,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.2017093215254135e-06,
                    "y": 9.02722604223527e-06,
                    "z": 0.008742273785173893
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019043340580537915,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 7.769175135763362e-05,
                        "pitch": -0.03798950836062431,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.2731283277389593e-05,
                    "y": 5.121864433021983e-06,
                    "z": -0.00018993832054547966
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.009097171947360039,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8727722167969
                    },
                    "rotation": {
                        "roll": -0.00015259039355441928,
                        "pitch": -0.04619939625263214,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.00016014938591979444,
                    "y": 4.1599254473112524e-05,
                    "z": 0.00909566693007946
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.3331909179688,
                        "y": 3497.51025390625,
                        "z": 370.7298889160156
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": -0.19894291460514069,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.2386474609375,
                        "y": 3493.24365234375,
                        "z": 370.7133483886719
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": -0.21142849326133728,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.17919921875,
                        "y": 3458.872802734375,
                        "z": 370.5763244628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.7378540039062,
                        "y": 3474.04248046875,
                        "z": 370.64105224609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.545892715454102,
                "transform": {
                    "location": {
                        "x": 935.44921875,
                        "y": 3535.5283203125,
                        "z": 370.8320617675781
                    },
                    "rotation": {
                        "roll": 0.00012833316577598453,
                        "pitch": 0.12969845533370972,
                        "yaw": 99.13861083984375
                    }
                },
                "velocity": {
                    "x": -0.8807193636894226,
                    "y": 5.475505828857422,
                    "z": 0.009690942242741585
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.181746006011963,
                "transform": {
                    "location": {
                        "x": 932.8558959960938,
                        "y": 3551.640869140625,
                        "z": 370.8693542480469
                    },
                    "rotation": {
                        "roll": -0.00012206967949168757,
                        "pitch": -0.05859619006514549,
                        "yaw": 99.14197540283203
                    }
                },
                "velocity": {
                    "x": -1.1413787603378296,
                    "y": 7.090461730957031,
                    "z": 0.009185971692204475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.6435546875,
                        "y": 3443.5595703125,
                        "z": 370.4984436035156
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.8147583007812,
                        "y": 3492.205322265625,
                        "z": 370.71307373046875
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043230056762695,
                "transform": {
                    "location": {
                        "x": 941.8767700195312,
                        "y": 3516.045166015625,
                        "z": 370.78564453125
                    },
                    "rotation": {
                        "roll": -0.0006103570922277868,
                        "pitch": 0.15877456963062286,
                        "yaw": 99.1459732055664
                    }
                },
                "velocity": {
                    "x": -1.2784268856048584,
                    "y": 7.940952777862549,
                    "z": 0.021057939156889915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037543296813965,
                "transform": {
                    "location": {
                        "x": 938.0960083007812,
                        "y": 3539.538330078125,
                        "z": 370.8451843261719
                    },
                    "rotation": {
                        "roll": 0.00041338070877827704,
                        "pitch": 0.11915947496891022,
                        "yaw": 99.14672088623047
                    }
                },
                "velocity": {
                    "x": -1.2776020765304565,
                    "y": 7.935333251953125,
                    "z": 0.017596205696463585
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.32608672976493835,
        "expert_target_speed": 0,
        "target_point": [
            21.485289907272342,
            0.4352031446927773
        ],
        "target_point_next": [
            39.484928575027155,
            0.5344635714370387
        ]
    },
    "455": {
        "acceleration": [
            -0.0027327844873070717,
            -0.0036001019179821014,
            -0.013978630304336548
        ],
        "angular_velocity": [
            1.8864145278930664,
            0.2603015899658203,
            0.0006273120525293052
        ],
        "forward_vector": [
            -0.15314088761806488,
            0.9881688952445984,
            -0.00837018247693777
        ],
        "right_vector": [
            -0.9882035851478577,
            -0.15314583480358124,
            5.006556966691278e-05
        ],
        "location": [
            930.8583984375,
            3566.677978515625,
            370.8775634765625
        ],
        "rotation": [
            -0.002868646290153265,
            -0.47958171367645264,
            98.8093032836914
        ],
        "velocity": [
            0.0008291903068311512,
            -0.005936583038419485,
            0.000410212465794757
        ],
        "speed": 0.005994211769448312,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.9197998046875,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -2.5469284992141183e-06,
                7.178261967055732e-07,
                -5.700480687664822e-05
            ],
            "speed_kmh": 0.00020543828668603814,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.06322089582681656,
                "transform": {
                    "location": {
                        "x": 986.4251098632812,
                        "y": 3586.568603515625,
                        "z": 370.3106689453125
                    },
                    "rotation": {
                        "roll": 0.00013003106869291514,
                        "pitch": 0.734279453754425,
                        "yaw": -170.7474822998047
                    }
                },
                "velocity": {
                    "x": 0.0008539402042515576,
                    "y": -5.140734720043838e-05,
                    "z": 0.06321510672569275
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9369162917137146,
                "transform": {
                    "location": {
                        "x": 930.3980102539062,
                        "y": 3628.917724609375,
                        "z": 370.8974914550781
                    },
                    "rotation": {
                        "roll": -0.009704607538878918,
                        "pitch": 0.20741917192935944,
                        "yaw": -80.7220687866211
                    }
                },
                "velocity": {
                    "x": 0.16596126556396484,
                    "y": -0.9220835566520691,
                    "z": 0.00555729866027832
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.9542269706726074,
                "transform": {
                    "location": {
                        "x": 881.5287475585938,
                        "y": 3572.403076171875,
                        "z": 371.2726745605469
                    },
                    "rotation": {
                        "roll": -0.0030822742264717817,
                        "pitch": -0.28503742814064026,
                        "yaw": 9.465085983276367
                    }
                },
                "velocity": {
                    "x": 2.911344528198242,
                    "y": 0.5012704133987427,
                    "z": -0.016042660921812057
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.088965892791748,
                "transform": {
                    "location": {
                        "x": 927.5025024414062,
                        "y": 3626.555908203125,
                        "z": 370.8785095214844
                    },
                    "rotation": {
                        "roll": -0.006347662303596735,
                        "pitch": 0.5142244100570679,
                        "yaw": -80.48573303222656
                    }
                },
                "velocity": {
                    "x": 0.8559337258338928,
                    "y": -5.016441822052002,
                    "z": 0.01620989851653576
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.380618572235107,
                "transform": {
                    "location": {
                        "x": 904.0778198242188,
                        "y": 3576.123046875,
                        "z": 371.1369934082031
                    },
                    "rotation": {
                        "roll": -3.0516810511471704e-05,
                        "pitch": -0.4807974696159363,
                        "yaw": 9.157845497131348
                    }
                },
                "velocity": {
                    "x": 6.299245357513428,
                    "y": 1.0146416425704956,
                    "z": -0.047978732734918594
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.073766708374023,
                "transform": {
                    "location": {
                        "x": 966.3955078125,
                        "y": 3583.205322265625,
                        "z": 370.5535583496094
                    },
                    "rotation": {
                        "roll": 0.000474607601063326,
                        "pitch": 0.6020879745483398,
                        "yaw": -170.72567749023438
                    }
                },
                "velocity": {
                    "x": -5.994019508361816,
                    "y": -0.9789325594902039,
                    "z": 0.06374447047710419
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.007728743366897106,
                "transform": {
                    "location": {
                        "x": 933.720703125,
                        "y": 3608.824951171875,
                        "z": 370.9051818847656
                    },
                    "rotation": {
                        "roll": -0.019653400406241417,
                        "pitch": -1.1269538402557373,
                        "yaw": -80.25738525390625
                    }
                },
                "velocity": {
                    "x": -0.0017575323581695557,
                    "y": -0.007524767424911261,
                    "z": 0.0001497583434684202
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8438289165496826,
                "transform": {
                    "location": {
                        "x": 930.501220703125,
                        "y": 3608.39892578125,
                        "z": 370.8844909667969
                    },
                    "rotation": {
                        "roll": 0.0002365937252761796,
                        "pitch": 0.034806642681360245,
                        "yaw": -80.7027816772461
                    }
                },
                "velocity": {
                    "x": 0.29477623105049133,
                    "y": -1.8201117515563965,
                    "z": 0.002287311479449272
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.7427978515625,
                        "y": 3428.702392578125,
                        "z": 370.4110412597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.4598388671875,
                        "y": 3413.632080078125,
                        "z": 370.3045349121094
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000628235749900341,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.619384765625,
                        "z": 370.9028015136719
                    },
                    "rotation": {
                        "roll": -0.00021362307597883046,
                        "pitch": 0.004309849347919226,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -3.250879672123119e-05,
                    "y": 6.760647374903783e-05,
                    "z": 0.0006237408961169422
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.561201095581055,
                "transform": {
                    "location": {
                        "x": 922.2395629882812,
                        "y": 3578.751220703125,
                        "z": 370.9893798828125
                    },
                    "rotation": {
                        "roll": 0.21957415342330933,
                        "pitch": -0.41668933629989624,
                        "yaw": 5.259332656860352
                    }
                },
                "velocity": {
                    "x": 5.550872802734375,
                    "y": 0.3354421854019165,
                    "z": -0.047382526099681854
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009168916731141508,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004024733789265156,
                        "pitch": 0.008285018615424633,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 5.405386673373869e-06,
                    "y": 5.5813015933381394e-05,
                    "z": 0.0009151754202321172
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00026872390299104154,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0005188031936995685,
                        "pitch": 0.5704027414321899,
                        "yaw": -170.83383178710938
                    }
                },
                "velocity": {
                    "x": 2.2656320652458817e-05,
                    "y": -2.0754019715241157e-05,
                    "z": 0.0002669616078492254
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.2276611328125,
                        "y": 3444.330810546875,
                        "z": 370.5057678222656
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.9446411132812,
                        "y": 3429.260498046875,
                        "z": 370.41131591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002977990370709449,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0008782747900113463,
                        "pitch": -0.03885011374950409,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 7.63590469432529e-06,
                    "y": -1.1447727956692688e-05,
                    "z": -0.0002974809322040528
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0023492961190640926,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8687744140625
                    },
                    "rotation": {
                        "roll": 6.222711090231314e-05,
                        "pitch": -0.04387713223695755,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 5.8448800700716674e-05,
                    "y": 1.1942382116103545e-05,
                    "z": -0.002348538488149643
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.7066190493060276e-05,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 7.769175135763362e-05,
                        "pitch": -0.03798950836062431,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.5469284992141183e-06,
                    "y": 7.178261967055732e-07,
                    "z": -5.700480687664822e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0023272093385457993,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8739013671875
                    },
                    "rotation": {
                        "roll": -0.00021362522966228426,
                        "pitch": -0.04604913294315338,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 6.334184581646696e-05,
                    "y": -1.911546496558003e-05,
                    "z": 0.0023262687027454376
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.6116943359375,
                        "y": 3495.44580078125,
                        "z": 370.7227783203125
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": -0.19894291460514069,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.5651245117188,
                        "y": 3491.1845703125,
                        "z": 370.7056884765625
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": -0.21142849326133728,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8480224609375,
                        "y": 3460.928955078125,
                        "z": 370.58544921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.4067993164062,
                        "y": 3476.0986328125,
                        "z": 370.6496887207031
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.374171257019043,
                "transform": {
                    "location": {
                        "x": 935.2127685546875,
                        "y": 3536.997802734375,
                        "z": 370.8349914550781
                    },
                    "rotation": {
                        "roll": 0.0004818497400265187,
                        "pitch": 0.13169969618320465,
                        "yaw": 99.14392852783203
                    }
                },
                "velocity": {
                    "x": -1.0121419429779053,
                    "y": 6.2932891845703125,
                    "z": 0.011687593534588814
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.3355183601379395,
                "transform": {
                    "location": {
                        "x": 932.5850830078125,
                        "y": 3553.3232421875,
                        "z": 370.8699951171875
                    },
                    "rotation": {
                        "roll": 0.0006468947976827621,
                        "pitch": 0.11066272109746933,
                        "yaw": 99.11505126953125
                    }
                },
                "velocity": {
                    "x": -1.0069738626480103,
                    "y": 6.254976749420166,
                    "z": 0.007879095152020454
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.3125610351562,
                        "y": 3445.615966796875,
                        "z": 370.50982666015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.4838256835938,
                        "y": 3494.26171875,
                        "z": 370.7204895019531
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055591583251953,
                "transform": {
                    "location": {
                        "x": 941.5570678710938,
                        "y": 3518.0322265625,
                        "z": 370.7911682128906
                    },
                    "rotation": {
                        "roll": 0.00024018478870857507,
                        "pitch": 0.15891800820827484,
                        "yaw": 99.14058685302734
                    }
                },
                "velocity": {
                    "x": -1.2790002822875977,
                    "y": 7.953380107879639,
                    "z": 0.021557331085205078
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041335105895996,
                "transform": {
                    "location": {
                        "x": 937.7767944335938,
                        "y": 3541.522705078125,
                        "z": 370.84893798828125
                    },
                    "rotation": {
                        "roll": 0.00016587246500421315,
                        "pitch": 0.1036481186747551,
                        "yaw": 99.13978576660156
                    }
                },
                "velocity": {
                    "x": -1.2773127555847168,
                    "y": 7.93922758102417,
                    "z": 0.013973292894661427
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.32771772146224976,
        "expert_target_speed": 0,
        "target_point": [
            21.47324958590656,
            0.4413872214139811
        ],
        "target_point_next": [
            39.4728573982751,
            0.5460934913937052
        ]
    },
    "460": {
        "acceleration": [
            -0.002093483926728368,
            0.01245113555341959,
            0.0017167581245303154
        ],
        "angular_velocity": [
            0.838892936706543,
            0.1340240091085434,
            0.00014479240053333342
        ],
        "forward_vector": [
            -0.15314733982086182,
            0.9882005453109741,
            -0.0023632028605788946
        ],
        "right_vector": [
            -0.9882032871246338,
            -0.15314772725105286,
            2.077268436551094e-05
        ],
        "location": [
            930.8580932617188,
            3566.68017578125,
            370.87628173828125
        ],
        "rotation": [
            -0.0011901904363185167,
            -0.1354016661643982,
            98.80938720703125
        ],
        "velocity": [
            0.00044498033821582794,
            -0.0027002107817679644,
            0.0016084443777799606
        ],
        "speed": 0.0027366303673266937,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.91758346557617,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -1.4838776223768946e-05,
                -1.5689386145822937e-06,
                -0.0007523195818066597
            ],
            "speed_kmh": 0.0027088831565928676,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2537766695022583,
                "transform": {
                    "location": {
                        "x": 986.2511596679688,
                        "y": 3586.5380859375,
                        "z": 370.3170471191406
                    },
                    "rotation": {
                        "roll": -0.00039672685670666397,
                        "pitch": 0.7676039338111877,
                        "yaw": -170.6690216064453
                    }
                },
                "velocity": {
                    "x": -1.2335984706878662,
                    "y": -0.22361111640930176,
                    "z": 0.013732661493122578
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4493305683135986,
                "transform": {
                    "location": {
                        "x": 930.446533203125,
                        "y": 3628.631103515625,
                        "z": 370.88580322265625
                    },
                    "rotation": {
                        "roll": 0.0010246997699141502,
                        "pitch": 0.17385563254356384,
                        "yaw": -80.61925506591797
                    }
                },
                "velocity": {
                    "x": 0.24330998957157135,
                    "y": -1.427665114402771,
                    "z": -0.05596109852194786
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.029079914093018,
                "transform": {
                    "location": {
                        "x": 882.3786010742188,
                        "y": 3572.549072265625,
                        "z": 371.2676086425781
                    },
                    "rotation": {
                        "roll": -0.0024108863435685635,
                        "pitch": -0.2772510349750519,
                        "yaw": 9.53045654296875
                    }
                },
                "velocity": {
                    "x": 3.969611644744873,
                    "y": 0.6892357468605042,
                    "z": -0.024956630542874336
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.134426116943359,
                "transform": {
                    "location": {
                        "x": 927.7335205078125,
                        "y": 3625.197998046875,
                        "z": 370.8826599121094
                    },
                    "rotation": {
                        "roll": -0.0030517689883708954,
                        "pitch": 0.3229449987411499,
                        "yaw": -80.37779998779297
                    }
                },
                "velocity": {
                    "x": 1.0344117879867554,
                    "y": -6.046581745147705,
                    "z": 0.005089855287224054
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.119187831878662,
                "transform": {
                    "location": {
                        "x": 905.6183471679688,
                        "y": 3576.37158203125,
                        "z": 371.1253967285156
                    },
                    "rotation": {
                        "roll": -0.0005493194912560284,
                        "pitch": -0.48339977860450745,
                        "yaw": 9.155634880065918
                    }
                },
                "velocity": {
                    "x": 6.041069984436035,
                    "y": 0.973620593547821,
                    "z": -0.0446866899728775
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9854557514190674,
                "transform": {
                    "location": {
                        "x": 965.4690551757812,
                        "y": 3583.06298828125,
                        "z": 370.5643615722656
                    },
                    "rotation": {
                        "roll": 0.011542637832462788,
                        "pitch": 0.46648141741752625,
                        "yaw": -169.66464233398438
                    }
                },
                "velocity": {
                    "x": -0.9724336266517639,
                    "y": -0.15935100615024567,
                    "z": 0.010150623507797718
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7043969631195068,
                "transform": {
                    "location": {
                        "x": 933.7354736328125,
                        "y": 3608.736083984375,
                        "z": 370.89862060546875
                    },
                    "rotation": {
                        "roll": -0.008300766348838806,
                        "pitch": -0.315677672624588,
                        "yaw": -80.28517150878906
                    }
                },
                "velocity": {
                    "x": 0.11614856123924255,
                    "y": -0.6947522759437561,
                    "z": 0.0019563769455999136
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1204404830932617,
                "transform": {
                    "location": {
                        "x": 930.578857421875,
                        "y": 3607.9208984375,
                        "z": 370.88470458984375
                    },
                    "rotation": {
                        "roll": 0.0005758187617175281,
                        "pitch": 0.042340341955423355,
                        "yaw": -80.72746276855469
                    }
                },
                "velocity": {
                    "x": 0.3387514352798462,
                    "y": -2.0932061672210693,
                    "z": 0.0018727588467299938
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4118041992188,
                        "y": 3430.7587890625,
                        "z": 370.42431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.12890625,
                        "y": 3415.688720703125,
                        "z": 370.3188171386719
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00015796581283211708,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 6.296580249909312e-05,
                        "pitch": 0.00916611310094595,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 1.8014088709605858e-05,
                    "y": 6.450703040172812e-06,
                    "z": 0.00015680267824791372
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.517505645751953,
                "transform": {
                    "location": {
                        "x": 923.8200073242188,
                        "y": 3578.811767578125,
                        "z": 370.9764404296875
                    },
                    "rotation": {
                        "roll": 0.27593591809272766,
                        "pitch": -0.15561218559741974,
                        "yaw": 2.751451253890991
                    }
                },
                "velocity": {
                    "x": 7.514814853668213,
                    "y": 0.1910489797592163,
                    "z": -0.06283831596374512
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002626939385663718,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -2.5200468371622264e-05,
                    "y": -1.7646632841206156e-05,
                    "z": 0.0002608862705528736
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.636057565221563e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0005188031936995685,
                        "pitch": 0.5704027414321899,
                        "yaw": -170.83383178710938
                    }
                },
                "velocity": {
                    "x": 1.6955584214883856e-05,
                    "y": 4.974491730536101e-06,
                    "z": 4.286100374883972e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.8966064453125,
                        "y": 3446.38720703125,
                        "z": 370.5167541503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.6136474609375,
                        "y": 3431.31689453125,
                        "z": 370.4246520996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009486420312896371,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.001031086896546185,
                        "pitch": -0.03902769833803177,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.809288945281878e-05,
                    "y": -2.6103386971954023e-06,
                    "z": -0.000945418665651232
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015106574865058064,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.0001525920524727553,
                        "pitch": -0.04394543543457985,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.4222790923668072e-05,
                    "y": -1.3049924518782063e-06,
                    "z": -0.0015105899656191468
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007524675456807017,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": -9.155223233392462e-05,
                        "pitch": -0.03811245411634445,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.4838776223768946e-05,
                    "y": -1.5689386145822937e-06,
                    "z": -0.0007523195818066597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0017288175877183676,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8740234375
                    },
                    "rotation": {
                        "roll": -0.0003967297088820487,
                        "pitch": -0.04604913294315338,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 7.201598054962233e-05,
                    "y": -4.719649223261513e-05,
                    "z": 0.0017266720533370972
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.9210205078125,
                        "y": 3493.385498046875,
                        "z": 370.7154541015625
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": -0.21142849326133728,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4070,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.8943481445312,
                        "y": 3489.126708984375,
                        "z": 370.6978759765625
                    },
                    "rotation": {
                        "roll": -6.670157315369352e-09,
                        "pitch": -0.2239072471857071,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.5171508789062,
                        "y": 3462.985595703125,
                        "z": 370.5943908691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.0758666992188,
                        "y": 3478.155029296875,
                        "z": 370.6583251953125
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.254969120025635,
                "transform": {
                    "location": {
                        "x": 934.9542846679688,
                        "y": 3538.60400390625,
                        "z": 370.8383483886719
                    },
                    "rotation": {
                        "roll": 1.3627057342091575e-05,
                        "pitch": 0.12011569738388062,
                        "yaw": 99.14202880859375
                    }
                },
                "velocity": {
                    "x": -0.9938249588012695,
                    "y": 6.175497531890869,
                    "z": 0.013344945386052132
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.5929126739501953,
                "transform": {
                    "location": {
                        "x": 932.3727416992188,
                        "y": 3554.64794921875,
                        "z": 370.869873046875
                    },
                    "rotation": {
                        "roll": 0.009657621383666992,
                        "pitch": 0.287981241941452,
                        "yaw": 99.50602722167969
                    }
                },
                "velocity": {
                    "x": -0.6051199436187744,
                    "y": 3.541588306427002,
                    "z": 0.002256374340504408
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.9816284179688,
                        "y": 3447.67236328125,
                        "z": 370.5209045410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.1527099609375,
                        "y": 3496.318115234375,
                        "z": 370.7274475097656
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044126510620117,
                "transform": {
                    "location": {
                        "x": 941.2373046875,
                        "y": 3520.01904296875,
                        "z": 370.7967224121094
                    },
                    "rotation": {
                        "roll": 0.0005343575612641871,
                        "pitch": 0.1587267518043518,
                        "yaw": 99.1461410522461
                    }
                },
                "velocity": {
                    "x": -1.2786248922348022,
                    "y": 7.941827297210693,
                    "z": 0.021485833451151848
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.87090539932251,
                "transform": {
                    "location": {
                        "x": 937.4595336914062,
                        "y": 3543.49365234375,
                        "z": 370.852294921875
                    },
                    "rotation": {
                        "roll": -3.051909152418375e-05,
                        "pitch": 0.06457943469285965,
                        "yaw": 99.14297485351562
                    }
                },
                "velocity": {
                    "x": -1.2506111860275269,
                    "y": 7.770903587341309,
                    "z": 0.01332070305943489
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3254188597202301,
        "expert_target_speed": 0.0,
        "target_point": [
            21.471032240401016,
            0.44138631532337724
        ],
        "target_point_next": [
            39.470640227491934,
            0.5460625452165226
        ]
    },
    "465": {
        "acceleration": [
            0.14902088046073914,
            -0.9791415929794312,
            0.00012435950338840485
        ],
        "angular_velocity": [
            0.07419084757566452,
            0.03356197848916054,
            -0.6264442205429077
        ],
        "forward_vector": [
            -0.15334568917751312,
            0.9881725907325745,
            1.573562440171372e-05
        ],
        "right_vector": [
            -0.9881725907325745,
            -0.15334568917751312,
            1.864212754298933e-05
        ],
        "location": [
            930.8568725585938,
            3566.6884765625,
            370.8758239746094
        ],
        "rotation": [
            -0.001068115234375,
            0.0009015849209390581,
            98.82086181640625
        ],
        "velocity": [
            -0.0019288475159555674,
            0.008814152330160141,
            0.0016528129344806075
        ],
        "speed": 0.009022734288400351,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.9091911315918,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -1.0407256013422739e-05,
                -1.517939381301403e-06,
                -0.000274193735094741
            ],
            "speed_kmh": 0.0009878233346597833,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8008427619934082,
                "transform": {
                    "location": {
                        "x": 985.8638916015625,
                        "y": 3586.47216796875,
                        "z": 370.3213195800781
                    },
                    "rotation": {
                        "roll": 0.0032182475551962852,
                        "pitch": 0.7575772404670715,
                        "yaw": -170.50929260253906
                    }
                },
                "velocity": {
                    "x": -1.7745091915130615,
                    "y": -0.3061124384403229,
                    "z": 0.021139230579137802
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.798086166381836,
                "transform": {
                    "location": {
                        "x": 930.53662109375,
                        "y": 3628.0986328125,
                        "z": 370.8779602050781
                    },
                    "rotation": {
                        "roll": -0.0034789880737662315,
                        "pitch": 0.2985680401325226,
                        "yaw": -80.52252960205078
                    }
                },
                "velocity": {
                    "x": 0.47048628330230713,
                    "y": -2.7582461833953857,
                    "z": -0.0027029800694435835
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.818117141723633,
                "transform": {
                    "location": {
                        "x": 883.5071411132812,
                        "y": 3572.74462890625,
                        "z": 371.2607421875
                    },
                    "rotation": {
                        "roll": -0.0014038111548870802,
                        "pitch": -0.29778939485549927,
                        "yaw": 9.468900680541992
                    }
                },
                "velocity": {
                    "x": 4.747605323791504,
                    "y": 0.8207351565361023,
                    "z": -0.029791321605443954
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.43551778793335,
                "transform": {
                    "location": {
                        "x": 928.021484375,
                        "y": 3623.514404296875,
                        "z": 370.8832702636719
                    },
                    "rotation": {
                        "roll": -0.0007629547617398202,
                        "pitch": 0.35475999116897583,
                        "yaw": -80.35017395019531
                    }
                },
                "velocity": {
                    "x": 1.2559155225753784,
                    "y": -7.328682899475098,
                    "z": 0.0019221305847167969
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.954836845397949,
                "transform": {
                    "location": {
                        "x": 907.1074829101562,
                        "y": 3576.611083984375,
                        "z": 371.1142883300781
                    },
                    "rotation": {
                        "roll": -6.104021304054186e-05,
                        "pitch": -0.47231438755989075,
                        "yaw": 9.149736404418945
                    }
                },
                "velocity": {
                    "x": 5.878909587860107,
                    "y": 0.946843147277832,
                    "z": -0.04461505636572838
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6201953291893005,
                "transform": {
                    "location": {
                        "x": 965.39453125,
                        "y": 3583.052490234375,
                        "z": 370.56451416015625
                    },
                    "rotation": {
                        "roll": 0.014008937403559685,
                        "pitch": 0.5518041253089905,
                        "yaw": -169.48704528808594
                    }
                },
                "velocity": {
                    "x": -0.611775279045105,
                    "y": -0.1016508936882019,
                    "z": 0.006350812967866659
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8948891758918762,
                "transform": {
                    "location": {
                        "x": 933.771240234375,
                        "y": 3608.517333984375,
                        "z": 370.89404296875
                    },
                    "rotation": {
                        "roll": 0.0055635059252381325,
                        "pitch": 0.27439600229263306,
                        "yaw": -80.30120086669922
                    }
                },
                "velocity": {
                    "x": 0.14364540576934814,
                    "y": -0.8832830786705017,
                    "z": 0.001916704117320478
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6399645805358887,
                "transform": {
                    "location": {
                        "x": 930.6743774414062,
                        "y": 3607.33203125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": -0.0008850101148709655,
                        "pitch": 0.05468932166695595,
                        "yaw": -80.75144958496094
                    }
                },
                "velocity": {
                    "x": 0.42154639959335327,
                    "y": -2.6060903072357178,
                    "z": 0.0022189903538674116
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.080810546875,
                        "y": 3432.815185546875,
                        "z": 370.4374084472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.7979736328125,
                        "y": 3417.744873046875,
                        "z": 370.3329162597656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001149301533587277,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0010691637871786952,
                        "pitch": 0.009411999955773354,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -4.086175067641307e-06,
                    "y": -3.1782979021954816e-06,
                    "z": 0.0011492898920550942
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.275240898132324,
                "transform": {
                    "location": {
                        "x": 925.848388671875,
                        "y": 3578.736083984375,
                        "z": 370.9586486816406
                    },
                    "rotation": {
                        "roll": 0.5792115330696106,
                        "pitch": -0.27777013182640076,
                        "yaw": -2.366577625274658
                    }
                },
                "velocity": {
                    "x": 8.253341674804688,
                    "y": -0.5970924496650696,
                    "z": -0.07375870645046234
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0013068203115835786,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 7.800234016031027e-06,
                    "y": 4.0228687794297e-06,
                    "z": 0.0013067908585071564
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00014636550622526556,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0005188031936995685,
                        "pitch": 0.5704027414321899,
                        "yaw": -170.83383178710938
                    }
                },
                "velocity": {
                    "x": 1.8523036487749778e-05,
                    "y": -1.979246633254661e-07,
                    "z": -0.00014518856187351048
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.5657348632812,
                        "y": 3448.443603515625,
                        "z": 370.5278015136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.2827758789062,
                        "y": 3433.373291015625,
                        "z": 370.4377136230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003978341701440513,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0007923254743218422,
                        "pitch": -0.03906184807419777,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.311795767833246e-05,
                    "y": -2.025234243774321e-05,
                    "z": -0.00039710174314677715
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006927581853233278,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 0.00015845175948925316,
                        "pitch": -0.04391128197312355,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.3480299685397767e-06,
                    "y": 1.3328110526344972e-06,
                    "z": -0.0006927556241862476
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00027439536643214524,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": -0.0001220696431118995,
                        "pitch": -0.03802366182208061,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.0407256013422739e-05,
                    "y": -1.517939381301403e-06,
                    "z": -0.000274193735094741
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006323850248008966,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": 0.00011367699335096404,
                        "pitch": -0.04613792523741722,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.9393989987293025e-06,
                    "y": 4.86078670292045e-06,
                    "z": 0.0006323633715510368
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.2498168945312,
                        "y": 3491.328125,
                        "z": 370.70794677734375
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": -0.21142849326133728,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.1862182617188,
                        "y": 3465.041748046875,
                        "z": 370.6031799316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.7448120117188,
                        "y": 3480.21142578125,
                        "z": 370.6667785644531
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.5967295169830322,
                "transform": {
                    "location": {
                        "x": 934.7420043945312,
                        "y": 3539.927490234375,
                        "z": 370.8412780761719
                    },
                    "rotation": {
                        "roll": -0.0009155293228104711,
                        "pitch": 0.06119849160313606,
                        "yaw": 99.3979721069336
                    }
                },
                "velocity": {
                    "x": -0.5922015905380249,
                    "y": 3.5476388931274414,
                    "z": 0.004396428819745779
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3493421673774719,
                "transform": {
                    "location": {
                        "x": 932.3256225585938,
                        "y": 3554.927490234375,
                        "z": 370.86907958984375
                    },
                    "rotation": {
                        "roll": 0.0006044742767699063,
                        "pitch": 0.41526180505752563,
                        "yaw": 99.53351593017578
                    }
                },
                "velocity": {
                    "x": -0.056650351732969284,
                    "y": 0.34471362829208374,
                    "z": 0.0017903709085658193
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.6506958007812,
                        "y": 3449.728759765625,
                        "z": 370.5318603515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.8218383789062,
                        "y": 3498.374267578125,
                        "z": 370.73443603515625
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055557250976562,
                "transform": {
                    "location": {
                        "x": 940.9174194335938,
                        "y": 3522.005859375,
                        "z": 370.8020935058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1574016958475113,
                        "yaw": 99.14685821533203
                    }
                },
                "velocity": {
                    "x": -1.2804981470108032,
                    "y": 7.953104496002197,
                    "z": 0.021244477480649948
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.4882378578186035,
                "transform": {
                    "location": {
                        "x": 937.1551513671875,
                        "y": 3545.38525390625,
                        "z": 370.8553466796875
                    },
                    "rotation": {
                        "roll": 0.00046796552487649024,
                        "pitch": 0.024861887097358704,
                        "yaw": 99.14315795898438
                    }
                },
                "velocity": {
                    "x": -1.1899493932724,
                    "y": 7.393073558807373,
                    "z": 0.013758067972958088
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3297972083091736,
        "expert_target_speed": 0.0,
        "target_point": [
            21.462730204321232,
            0.4371631285693125
        ],
        "target_point_next": [
            39.46235874592149,
            0.5382431288721143
        ]
    },
    "470": {
        "acceleration": [
            -0.01741611398756504,
            0.1502324640750885,
            0.0005144113674759865
        ],
        "angular_velocity": [
            0.08518209308385849,
            0.017841262742877007,
            -0.015594204887747765
        ],
        "forward_vector": [
            -0.15343941748142242,
            0.9881578087806702,
            0.0006923674372956157
        ],
        "right_vector": [
            -0.9881580471992493,
            -0.1534394472837448,
            -2.4252801722468575e-06
        ],
        "location": [
            930.8550415039062,
            3566.699951171875,
            370.8757019042969
        ],
        "rotation": [
            0.0001389583630952984,
            0.039669737219810486,
            98.82630157470703
        ],
        "velocity": [
            -0.007161946501582861,
            0.04782289266586304,
            0.0014702033950015903
        ],
        "speed": 0.04835620477893392,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.8975715637207,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                2.1618741811835207e-05,
                7.162247584346915e-06,
                -0.000672917056363076
            ],
            "speed_kmh": 0.002423888401230354,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3388378620147705,
                "transform": {
                    "location": {
                        "x": 985.3521118164062,
                        "y": 3586.38427734375,
                        "z": 370.3279113769531
                    },
                    "rotation": {
                        "roll": 0.003121871966868639,
                        "pitch": 0.7520652413368225,
                        "yaw": -170.428955078125
                    }
                },
                "velocity": {
                    "x": -2.3045222759246826,
                    "y": -0.398078590631485,
                    "z": 0.02955012209713459
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.849957466125488,
                "transform": {
                    "location": {
                        "x": 930.6990356445312,
                        "y": 3627.142822265625,
                        "z": 370.8785400390625
                    },
                    "rotation": {
                        "roll": -0.004333438351750374,
                        "pitch": 0.49816665053367615,
                        "yaw": -80.4385757446289
                    }
                },
                "velocity": {
                    "x": 0.8167793154716492,
                    "y": -4.780667304992676,
                    "z": 0.01349051482975483
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.478793144226074,
                "transform": {
                    "location": {
                        "x": 885.1013793945312,
                        "y": 3573.01708984375,
                        "z": 371.2502136230469
                    },
                    "rotation": {
                        "roll": -0.00012207045801915228,
                        "pitch": -0.2141127586364746,
                        "yaw": 9.64047908782959
                    }
                },
                "velocity": {
                    "x": 7.375211238861084,
                    "y": 1.2395706176757812,
                    "z": -0.04549619182944298
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.43929386138916,
                "transform": {
                    "location": {
                        "x": 928.3436279296875,
                        "y": 3621.6162109375,
                        "z": 370.8856201171875
                    },
                    "rotation": {
                        "roll": 0.0218195803463459,
                        "pitch": 0.17961347103118896,
                        "yaw": -80.5445327758789
                    }
                },
                "velocity": {
                    "x": 1.2272534370422363,
                    "y": -7.33736515045166,
                    "z": 0.0037637422792613506
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.711185455322266,
                "transform": {
                    "location": {
                        "x": 908.546142578125,
                        "y": 3576.8427734375,
                        "z": 371.1033020019531
                    },
                    "rotation": {
                        "roll": -0.0004272452788427472,
                        "pitch": -0.479458749294281,
                        "yaw": 9.145587921142578
                    }
                },
                "velocity": {
                    "x": 5.638453006744385,
                    "y": 0.9074673056602478,
                    "z": -0.044619616121053696
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1288719177246094,
                "transform": {
                    "location": {
                        "x": 965.1691284179688,
                        "y": 3583.014404296875,
                        "z": 370.5663146972656
                    },
                    "rotation": {
                        "roll": 0.013833883218467236,
                        "pitch": 0.6185077428817749,
                        "yaw": -169.55372619628906
                    }
                },
                "velocity": {
                    "x": -1.113457441329956,
                    "y": -0.18555580079555511,
                    "z": 0.011551418341696262
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9469982385635376,
                "transform": {
                    "location": {
                        "x": 933.8067016601562,
                        "y": 3608.302490234375,
                        "z": 370.8957824707031
                    },
                    "rotation": {
                        "roll": 0.0006052895332686603,
                        "pitch": 0.08838947117328644,
                        "yaw": -80.3487777709961
                    }
                },
                "velocity": {
                    "x": 0.15280026197433472,
                    "y": -0.9345876574516296,
                    "z": 0.0019184970296919346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.228640079498291,
                "transform": {
                    "location": {
                        "x": 930.7919311523438,
                        "y": 3606.607177734375,
                        "z": 370.8855285644531
                    },
                    "rotation": {
                        "roll": -0.0006103550549596548,
                        "pitch": 0.057940490543842316,
                        "yaw": -80.77348327636719
                    }
                },
                "velocity": {
                    "x": 0.5153018236160278,
                    "y": -3.1872518062591553,
                    "z": 0.002303275978192687
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.7498779296875,
                        "y": 3434.87158203125,
                        "z": 370.45037841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.4671630859375,
                        "y": 3419.80126953125,
                        "z": 370.3470764160156
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00019163050455972552,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -6.103522173361853e-05,
                        "pitch": 0.008496754802763462,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -2.341772233194206e-05,
                    "y": -1.6838743249536492e-05,
                    "z": 0.00018944739713333547
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.861625671386719,
                "transform": {
                    "location": {
                        "x": 927.835205078125,
                        "y": 3578.474853515625,
                        "z": 370.94329833984375
                    },
                    "rotation": {
                        "roll": 0.702605128288269,
                        "pitch": -0.4426850378513336,
                        "yaw": -8.099649429321289
                    }
                },
                "velocity": {
                    "x": 7.736289978027344,
                    "y": -1.3970893621444702,
                    "z": -0.05587424710392952
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005654726410284638,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 1.1313147751934594e-06,
                    "y": 2.609559999200428e-07,
                    "z": 0.0005654714768752456
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.071475682896562e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.00018310682207811624,
                        "pitch": 0.5702388286590576,
                        "yaw": -170.83370971679688
                    }
                },
                "velocity": {
                    "x": 1.677654654486105e-05,
                    "y": 2.8989556994929444e-06,
                    "z": 1.1800198080891278e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.2347412109375,
                        "y": 3450.5,
                        "z": 370.5383605957031
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.9518432617188,
                        "y": 3435.4296875,
                        "z": 370.4506530761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00011624974285950884,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0005815400509163737,
                        "pitch": -0.03908916935324669,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 6.570401455974206e-05,
                    "y": -2.0859482901869342e-05,
                    "z": 9.36048454605043e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001230393972946331,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 0.00015845175948925316,
                        "pitch": -0.04391128197312355,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -3.1720031756776734e-07,
                    "y": 1.4319502952275798e-06,
                    "z": -0.00012303065159358084
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006733023328706622,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0002122828591382131,
                        "pitch": -0.03798950836062431,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.1618741811835207e-05,
                    "y": 7.162247584346915e-06,
                    "z": -0.000672917056363076
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012894864194095135,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -3.0517412596964277e-05,
                        "pitch": -0.04616524651646614,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 5.411702659330331e-05,
                    "y": 1.843793324951548e-05,
                    "z": 0.0012882184237241745
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4071,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.5791015625,
                        "y": 3489.270751953125,
                        "z": 370.7005310058594
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": -0.21142849326133728,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.860595703125,
                        "y": 3467.065185546875,
                        "z": 370.6116638183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.4244384765625,
                        "y": 3482.2021484375,
                        "z": 370.67486572265625
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6270946264266968,
                "transform": {
                    "location": {
                        "x": 934.6625366210938,
                        "y": 3540.407958984375,
                        "z": 370.84222412109375
                    },
                    "rotation": {
                        "roll": 0.0007890038541518152,
                        "pitch": 0.050536565482616425,
                        "yaw": 99.41950988769531
                    }
                },
                "velocity": {
                    "x": -0.25915974378585815,
                    "y": 1.6063213348388672,
                    "z": 0.0022332000080496073
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3440741300582886,
                "transform": {
                    "location": {
                        "x": 932.288818359375,
                        "y": 3555.154052734375,
                        "z": 370.8725280761719
                    },
                    "rotation": {
                        "roll": -0.0005798340425826609,
                        "pitch": 0.031036376953125,
                        "yaw": 99.48015594482422
                    }
                },
                "velocity": {
                    "x": -0.21330642700195312,
                    "y": 1.3270390033721924,
                    "z": 0.0017796229803934693
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.324951171875,
                        "y": 3451.752197265625,
                        "z": 370.54205322265625
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.88047981262207,
                "transform": {
                    "location": {
                        "x": 944.5374755859375,
                        "y": 3500.07958984375,
                        "z": 370.7388610839844
                    },
                    "rotation": {
                        "roll": -0.0425109900534153,
                        "pitch": -0.17447033524513245,
                        "yaw": 99.46305847167969
                    }
                },
                "velocity": {
                    "x": -1.1505330801010132,
                    "y": 6.783592224121094,
                    "z": 0.012284555472433567
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043535232543945,
                "transform": {
                    "location": {
                        "x": 940.5977783203125,
                        "y": 3523.992431640625,
                        "z": 370.8074645996094
                    },
                    "rotation": {
                        "roll": 0.0008976724930107594,
                        "pitch": 0.1464460790157318,
                        "yaw": 99.1397476196289
                    }
                },
                "velocity": {
                    "x": -1.2776809930801392,
                    "y": 7.941383361816406,
                    "z": 0.02058882638812065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.285762786865234,
                "transform": {
                    "location": {
                        "x": 936.8621826171875,
                        "y": 3547.204833984375,
                        "z": 370.8582763671875
                    },
                    "rotation": {
                        "roll": -0.00030517744016833603,
                        "pitch": 0.04444403946399689,
                        "yaw": 99.14583587646484
                    }
                },
                "velocity": {
                    "x": -1.1580158472061157,
                    "y": 7.1931352615356445,
                    "z": 0.011954087764024734
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.33090800046920776,
        "expert_target_speed": 0.0,
        "target_point": [
            21.45115190670364,
            0.4350777994570101
        ],
        "target_point_next": [
            39.45078995880885,
            0.5344498038545265
        ]
    },
    "475": {
        "acceleration": [
            0.018604202196002007,
            -0.14955520629882812,
            -0.003898430150002241
        ],
        "angular_velocity": [
            -0.02117171697318554,
            0.000870442483574152,
            -0.012518438510596752
        ],
        "forward_vector": [
            -0.1534452885389328,
            0.988156795501709,
            0.0008568761986680329
        ],
        "right_vector": [
            -0.9881571531295776,
            -0.15344534814357758,
            -6.393063358700601e-06
        ],
        "location": [
            930.853271484375,
            3566.71142578125,
            370.8756408691406
        ],
        "rotation": [
            0.00036629568785429,
            0.04909539595246315,
            98.82664489746094
        ],
        "velocity": [
            -0.006827850826084614,
            0.04354792833328247,
            0.0015784167917445302
        ],
        "speed": 0.04407994565586453,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.885963439941406,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                1.1028481821995229e-05,
                -3.373124627614743e-06,
                -0.0003752785560209304
            ],
            "speed_kmh": 0.0013516406030720854,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8633792400360107,
                "transform": {
                    "location": {
                        "x": 984.7088623046875,
                        "y": 3586.27392578125,
                        "z": 370.3362121582031
                    },
                    "rotation": {
                        "roll": 0.005199709441512823,
                        "pitch": 0.75236576795578,
                        "yaw": -170.35511779785156
                    }
                },
                "velocity": {
                    "x": -2.8212804794311523,
                    "y": -0.4877793788909912,
                    "z": 0.03726512938737869
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.6770758628845215,
                "transform": {
                    "location": {
                        "x": 930.9227294921875,
                        "y": 3625.83154296875,
                        "z": 370.8828430175781
                    },
                    "rotation": {
                        "roll": -0.0014953636564314365,
                        "pitch": 0.28994834423065186,
                        "yaw": -80.37266540527344
                    }
                },
                "velocity": {
                    "x": 0.9576237797737122,
                    "y": -5.595723628997803,
                    "z": 0.005323448218405247
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.393454551696777,
                "transform": {
                    "location": {
                        "x": 887.0980834960938,
                        "y": 3573.3515625,
                        "z": 371.23785400390625
                    },
                    "rotation": {
                        "roll": 0.0007780570886097848,
                        "pitch": -0.27930009365081787,
                        "yaw": 9.508517265319824
                    }
                },
                "velocity": {
                    "x": 8.279178619384766,
                    "y": 1.3793340921401978,
                    "z": -0.05204370990395546
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3888447284698486,
                "transform": {
                    "location": {
                        "x": 928.5291137695312,
                        "y": 3620.52490234375,
                        "z": 370.89666748046875
                    },
                    "rotation": {
                        "roll": 0.018031705170869827,
                        "pitch": -1.1164557933807373,
                        "yaw": -80.890625
                    }
                },
                "velocity": {
                    "x": 0.23468223214149475,
                    "y": -1.3688732385635376,
                    "z": -0.0002408122963970527
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.541840553283691,
                "transform": {
                    "location": {
                        "x": 909.933837890625,
                        "y": 3577.066162109375,
                        "z": 371.0926208496094
                    },
                    "rotation": {
                        "roll": -0.0013732919469475746,
                        "pitch": -0.4910564124584198,
                        "yaw": 9.142929077148438
                    }
                },
                "velocity": {
                    "x": 5.471274375915527,
                    "y": 0.8804973363876343,
                    "z": -0.04334559291601181
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.679633378982544,
                "transform": {
                    "location": {
                        "x": 964.814208984375,
                        "y": 3582.953369140625,
                        "z": 370.5700378417969
                    },
                    "rotation": {
                        "roll": 0.011655350215733051,
                        "pitch": 0.6219296455383301,
                        "yaw": -169.7580108642578
                    }
                },
                "velocity": {
                    "x": -1.6571263074874878,
                    "y": -0.2734522223472595,
                    "z": 0.0180168729275465
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9757413864135742,
                "transform": {
                    "location": {
                        "x": 933.865966796875,
                        "y": 3607.93994140625,
                        "z": 370.8951416015625
                    },
                    "rotation": {
                        "roll": 0.004449014086276293,
                        "pitch": 0.1982189118862152,
                        "yaw": -80.38004302978516
                    }
                },
                "velocity": {
                    "x": 0.3166487216949463,
                    "y": -1.9502009153366089,
                    "z": 0.0019520091591402888
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6875743865966797,
                "transform": {
                    "location": {
                        "x": 930.9163818359375,
                        "y": 3605.837646484375,
                        "z": 370.88629150390625
                    },
                    "rotation": {
                        "roll": -0.0012817376991733909,
                        "pitch": 0.030025510117411613,
                        "yaw": -80.7894058227539
                    }
                },
                "velocity": {
                    "x": 0.42905357480049133,
                    "y": -2.653104782104492,
                    "z": 0.0020199583377689123
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.4188842773438,
                        "y": 3436.927978515625,
                        "z": 370.4627990722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.1466674804688,
                        "y": 3421.791748046875,
                        "z": 370.3606872558594
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0014686977956444025,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -6.103522173361853e-05,
                        "pitch": 0.008496754802763462,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 3.3408932722522877e-06,
                    "y": 8.192786253857776e-07,
                    "z": 0.0014686938375234604
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.090914726257324,
                "transform": {
                    "location": {
                        "x": 929.7601318359375,
                        "y": 3577.99560546875,
                        "z": 370.9263610839844
                    },
                    "rotation": {
                        "roll": 0.8262159824371338,
                        "pitch": -0.39645829796791077,
                        "yaw": -14.66362476348877
                    }
                },
                "velocity": {
                    "x": 7.724842548370361,
                    "y": -2.4053218364715576,
                    "z": -0.06430809199810028
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00011480474495328963,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.00018310682207811624,
                        "pitch": 0.5702388286590576,
                        "yaw": -170.83370971679688
                    }
                },
                "velocity": {
                    "x": 1.51461363202543e-05,
                    "y": 2.5856029424176086e-06,
                    "z": -0.00011377187183825299
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.9038696289062,
                        "y": 3452.55615234375,
                        "z": 370.5487060546875
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.6367797851562,
                        "y": 3437.38720703125,
                        "z": 370.46240234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005821051308885217,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0005167749477550387,
                        "pitch": -0.03915064036846161,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.171010692109121e-06,
                    "y": -3.136412124149501e-05,
                    "z": -0.0005812555318698287
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007206262089312077,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 0.00015845175948925316,
                        "pitch": -0.04391128197312355,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -8.493154382449575e-06,
                    "y": -2.248268629045924e-06,
                    "z": -0.0007205725996755064
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00037545571103692055,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.00010764886974357069,
                        "pitch": -0.03802366182208061,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.1028481821995229e-05,
                    "y": -3.373124627614743e-06,
                    "z": -0.0003752785560209304
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011959794210270047,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.0005188026698306203,
                        "pitch": -0.04598766192793846,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.60932089178823e-05,
                    "y": 9.255903023586143e-06,
                    "z": 0.0011935203801840544
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.5455932617188,
                        "y": 3469.022705078125,
                        "z": 370.6199645996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.1041870117188,
                        "y": 3484.1923828125,
                        "z": 370.6828918457031
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.241456985473633,
                "transform": {
                    "location": {
                        "x": 934.585693359375,
                        "y": 3540.8818359375,
                        "z": 370.8426208496094
                    },
                    "rotation": {
                        "roll": 0.0008966172463260591,
                        "pitch": 0.10741154849529266,
                        "yaw": 99.35385131835938
                    }
                },
                "velocity": {
                    "x": -0.35624292492866516,
                    "y": 2.2129645347595215,
                    "z": 0.002909870119765401
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.182136058807373,
                "transform": {
                    "location": {
                        "x": 932.2169799804688,
                        "y": 3555.59765625,
                        "z": 370.87347412109375
                    },
                    "rotation": {
                        "roll": -0.0005798340425826609,
                        "pitch": -0.017389660701155663,
                        "yaw": 99.4134292602539
                    }
                },
                "velocity": {
                    "x": -0.3454526960849762,
                    "y": 2.1546177864074707,
                    "z": 0.0017474651103839278
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.004638671875,
                        "y": 3453.74267578125,
                        "z": 370.5520324707031
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.641594409942627,
                "transform": {
                    "location": {
                        "x": 944.2539672851562,
                        "y": 3501.746826171875,
                        "z": 370.7418518066406
                    },
                    "rotation": {
                        "roll": -0.0256652794778347,
                        "pitch": 0.04619939625263214,
                        "yaw": 99.6462631225586
                    }
                },
                "velocity": {
                    "x": -1.1208140850067139,
                    "y": 6.5463151931762695,
                    "z": 0.01754084601998329
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055813789367676,
                "transform": {
                    "location": {
                        "x": 940.2780151367188,
                        "y": 3525.979248046875,
                        "z": 370.8125305175781
                    },
                    "rotation": {
                        "roll": 0.0001484637032262981,
                        "pitch": 0.1450527161359787,
                        "yaw": 99.13933563232422
                    }
                },
                "velocity": {
                    "x": -1.2796285152435303,
                    "y": 7.9535064697265625,
                    "z": 0.020759763196110725
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.047270774841309,
                "transform": {
                    "location": {
                        "x": 936.5770874023438,
                        "y": 3548.9755859375,
                        "z": 370.861083984375
                    },
                    "rotation": {
                        "roll": 0.00015507001080550253,
                        "pitch": 0.042313020676374435,
                        "yaw": 99.14612579345703
                    }
                },
                "velocity": {
                    "x": -1.120132327079773,
                    "y": 6.957674980163574,
                    "z": 0.009647464379668236
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.33168792724609375,
        "expert_target_speed": 0.0,
        "target_point": [
            21.439544077484275,
            0.434966717872872
        ],
        "target_point_next": [
            39.439182697905984,
            0.5342357275136731
        ]
    },
    "480": {
        "acceleration": [
            -0.026767803356051445,
            0.20687274634838104,
            -0.00039005186408758163
        ],
        "angular_velocity": [
            0.03752146288752556,
            0.001954341074451804,
            -0.021433161571621895
        ],
        "forward_vector": [
            -0.15342243015766144,
            0.988160252571106,
            0.0009273288887925446
        ],
        "right_vector": [
            -0.9881606698036194,
            -0.1534224897623062,
            5.326378868630854e-06
        ],
        "location": [
            930.851318359375,
            3566.724365234375,
            370.8757019042969
        ],
        "rotation": [
            -0.000305179157294333,
            0.053132038563489914,
            98.8253173828125
        ],
        "velocity": [
            -0.008608147501945496,
            0.05741148442029953,
            0.0014518069801852107
        ],
        "speed": 0.05805324062235928,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.87287902832031,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -1.9145832084177528e-06,
                1.1850520422740374e-06,
                -1.2526547834568191e-05
            ],
            "speed_kmh": 4.58183100629132e-05,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.486825704574585,
                "transform": {
                    "location": {
                        "x": 983.9266357421875,
                        "y": 3586.139404296875,
                        "z": 370.3463439941406
                    },
                    "rotation": {
                        "roll": 0.0062104202806949615,
                        "pitch": 0.7544148564338684,
                        "yaw": -170.2913818359375
                    }
                },
                "velocity": {
                    "x": -3.435488700866699,
                    "y": -0.594484269618988,
                    "z": 0.04425781965255737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.47105073928833,
                "transform": {
                    "location": {
                        "x": 931.2034301757812,
                        "y": 3624.191162109375,
                        "z": 370.8830261230469
                    },
                    "rotation": {
                        "roll": -0.0010070737916976213,
                        "pitch": 0.3716852068901062,
                        "yaw": -80.37144470214844
                    }
                },
                "velocity": {
                    "x": 1.2609754800796509,
                    "y": -7.363866806030273,
                    "z": 0.0021055126562714577
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.970636367797852,
                "transform": {
                    "location": {
                        "x": 889.1168823242188,
                        "y": 3573.687744140625,
                        "z": 371.2254638671875
                    },
                    "rotation": {
                        "roll": -0.0008544887532480061,
                        "pitch": -0.3733517825603485,
                        "yaw": 9.449986457824707
                    }
                },
                "velocity": {
                    "x": 7.86262845993042,
                    "y": 1.3066778182983398,
                    "z": -0.052103642374277115
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.531029999256134,
                "transform": {
                    "location": {
                        "x": 928.5421752929688,
                        "y": 3620.448974609375,
                        "z": 370.89312744140625
                    },
                    "rotation": {
                        "roll": 0.010759948752820492,
                        "pitch": -0.6871921420097351,
                        "yaw": -80.91539764404297
                    }
                },
                "velocity": {
                    "x": 0.08391343802213669,
                    "y": -0.5243566632270813,
                    "z": 0.0012298201909288764
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.312942981719971,
                "transform": {
                    "location": {
                        "x": 911.2718505859375,
                        "y": 3577.28125,
                        "z": 371.08221435546875
                    },
                    "rotation": {
                        "roll": -0.0002746617828961462,
                        "pitch": -0.49246343970298767,
                        "yaw": 9.140828132629395
                    }
                },
                "velocity": {
                    "x": 5.245352268218994,
                    "y": 0.8437968492507935,
                    "z": -0.04063233733177185
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1493096351623535,
                "transform": {
                    "location": {
                        "x": 964.3372192382812,
                        "y": 3582.872802734375,
                        "z": 370.5751953125
                    },
                    "rotation": {
                        "roll": 0.008339040912687778,
                        "pitch": 0.619709849357605,
                        "yaw": -169.9738311767578
                    }
                },
                "velocity": {
                    "x": -2.1205992698669434,
                    "y": -0.34941989183425903,
                    "z": 0.02228538505733013
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.6888115406036377,
                "transform": {
                    "location": {
                        "x": 933.9813232421875,
                        "y": 3607.237060546875,
                        "z": 370.8939514160156
                    },
                    "rotation": {
                        "roll": 0.007195232901722193,
                        "pitch": 0.415207177400589,
                        "yaw": -80.50071716308594
                    }
                },
                "velocity": {
                    "x": 0.5920155048370361,
                    "y": -3.6409950256347656,
                    "z": 0.002005615271627903
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012113451957702637,
                "transform": {
                    "location": {
                        "x": 930.9777221679688,
                        "y": 3605.460205078125,
                        "z": 370.8871765136719
                    },
                    "rotation": {
                        "roll": -0.0001831061381381005,
                        "pitch": -0.045284152030944824,
                        "yaw": -80.81303405761719
                    }
                },
                "velocity": {
                    "x": 9.404312731930986e-05,
                    "y": -4.3842566810781136e-05,
                    "z": 0.0012068931246176362
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.0880737304688,
                        "y": 3438.984375,
                        "z": 370.4752197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.8317260742188,
                        "y": 3423.749267578125,
                        "z": 370.37408447265625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006946510402485728,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -6.103522173361853e-05,
                        "pitch": 0.008496754802763462,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 5.304470960254548e-06,
                    "y": 2.568891432019882e-06,
                    "z": 0.00069462601095438
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047642707824707,
                "transform": {
                    "location": {
                        "x": 931.62255859375,
                        "y": 3577.21337890625,
                        "z": 370.9122314453125
                    },
                    "rotation": {
                        "roll": 1.2244981527328491,
                        "pitch": -0.4869924485683441,
                        "yaw": -23.77588653564453
                    }
                },
                "velocity": {
                    "x": 7.1440958976745605,
                    "y": -3.704360246658325,
                    "z": -0.06450377404689789
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0010479972697794437,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -5.521269940800266e-06,
                    "y": -4.534008439804893e-06,
                    "z": 0.001047972938977182
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013968460552860051,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.00018310682207811624,
                        "pitch": 0.5702388286590576,
                        "yaw": -170.83370971679688
                    }
                },
                "velocity": {
                    "x": 1.7529502656543627e-05,
                    "y": -1.135066122515127e-05,
                    "z": 0.00013811468670610338
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.5728759765625,
                        "y": 3454.61279296875,
                        "z": 370.55877685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.3165283203125,
                        "y": 3439.377685546875,
                        "z": 370.4744873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.240240615326911e-05,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0011834639590233564,
                        "pitch": -0.03872717171907425,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 6.317040970316157e-05,
                    "y": -1.3461429261951707e-05,
                    "z": -6.607944669667631e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00048187849461100996,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.0002746600366663188,
                        "pitch": -0.04381566122174263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.8559390557347797e-05,
                    "y": 7.355776233453071e-06,
                    "z": -0.0004809751990251243
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2727307876048144e-05,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 6.812014180468395e-05,
                        "pitch": -0.03802366182208061,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.9145832084177528e-06,
                    "y": 1.1850520422740374e-06,
                    "z": -1.2526547834568191e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012285748962312937,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.0015258772764354944,
                        "pitch": -0.04568713158369064,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -6.764021964045241e-05,
                    "y": -1.0533937711443286e-05,
                    "z": 0.001226666267029941
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.2251586914062,
                        "y": 3471.013427734375,
                        "z": 370.6283264160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7891235351562,
                        "y": 3486.14990234375,
                        "z": 370.6904296875
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0365707874298096,
                "transform": {
                    "location": {
                        "x": 934.4791870117188,
                        "y": 3541.540283203125,
                        "z": 370.8436584472656
                    },
                    "rotation": {
                        "roll": 0.00024823847343213856,
                        "pitch": 0.11275959014892578,
                        "yaw": 99.28610229492188
                    }
                },
                "velocity": {
                    "x": -0.4818098247051239,
                    "y": 2.9980974197387695,
                    "z": 0.005791845265775919
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7336779832839966,
                "transform": {
                    "location": {
                        "x": 932.137451171875,
                        "y": 3556.0908203125,
                        "z": 370.87322998046875
                    },
                    "rotation": {
                        "roll": 0.000611756113357842,
                        "pitch": 0.08337611705064774,
                        "yaw": 99.34770202636719
                    }
                },
                "velocity": {
                    "x": -0.27444717288017273,
                    "y": 1.7118157148361206,
                    "z": 0.0022959995549172163
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.689453125,
                        "y": 3455.7001953125,
                        "z": 370.5613708496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.8460283279418945,
                "transform": {
                    "location": {
                        "x": 943.9815673828125,
                        "y": 3503.33740234375,
                        "z": 370.7468566894531
                    },
                    "rotation": {
                        "roll": -0.01165771670639515,
                        "pitch": -0.10867513716220856,
                        "yaw": 99.7201156616211
                    }
                },
                "velocity": {
                    "x": -0.9899761080741882,
                    "y": 5.761570453643799,
                    "z": 0.017308073118329048
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042874336242676,
                "transform": {
                    "location": {
                        "x": 939.9583129882812,
                        "y": 3527.966064453125,
                        "z": 370.81756591796875
                    },
                    "rotation": {
                        "roll": -9.15608397917822e-05,
                        "pitch": 0.14488878846168518,
                        "yaw": 99.14320373535156
                    }
                },
                "velocity": {
                    "x": -1.2779631614685059,
                    "y": 7.940667629241943,
                    "z": 0.020752524957060814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.770088195800781,
                "transform": {
                    "location": {
                        "x": 936.3032836914062,
                        "y": 3550.677490234375,
                        "z": 370.8634338378906
                    },
                    "rotation": {
                        "roll": 9.947046783054247e-05,
                        "pitch": 0.02113943360745907,
                        "yaw": 99.14053344726562
                    }
                },
                "velocity": {
                    "x": -1.0754261016845703,
                    "y": 6.684120178222656,
                    "z": 0.009405250661075115
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3343401849269867,
        "expert_target_speed": 0.0,
        "target_point": [
            21.42644820409413,
            0.43551262920123834
        ],
        "target_point_next": [
            39.42608454771379,
            0.5351936178493659
        ]
    },
    "485": {
        "acceleration": [
            0.01463988795876503,
            -0.11614963412284851,
            -0.002395820338279009
        ],
        "angular_velocity": [
            -0.036289919167757034,
            0.0027544202748686075,
            0.02620774880051613
        ],
        "forward_vector": [
            -0.15336717665195465,
            0.9881688356399536,
            0.0009446142357774079
        ],
        "right_vector": [
            -0.988169252872467,
            -0.15336723625659943,
            2.1305456812115153e-06
        ],
        "location": [
            930.8493041992188,
            3566.73779296875,
            370.8757019042969
        ],
        "rotation": [
            -0.00012207133113406599,
            0.05412241443991661,
            98.82211303710938
        ],
        "velocity": [
            -0.008454561233520508,
            0.05473865941166878,
            0.0011999893467873335
        ],
        "speed": 0.05538772824225618,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.85930252075195,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                3.878778443322517e-06,
                -1.2522423276095651e-06,
                -0.00102783995680511
            ],
            "speed_kmh": 0.003700252937881807,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.2973198890686035,
                "transform": {
                    "location": {
                        "x": 982.96826171875,
                        "y": 3585.973876953125,
                        "z": 370.3587951660156
                    },
                    "rotation": {
                        "roll": 0.006181444972753525,
                        "pitch": 0.7605893611907959,
                        "yaw": -170.23944091796875
                    }
                },
                "velocity": {
                    "x": -4.233922481536865,
                    "y": -0.7333949208259583,
                    "z": 0.05467374622821808
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.755446910858154,
                "transform": {
                    "location": {
                        "x": 931.5209350585938,
                        "y": 3622.313720703125,
                        "z": 370.8852233886719
                    },
                    "rotation": {
                        "roll": 0.015208927914500237,
                        "pitch": 0.2121729850769043,
                        "yaw": -80.3615493774414
                    }
                },
                "velocity": {
                    "x": 1.2822554111480713,
                    "y": -7.648709774017334,
                    "z": 0.004026202950626612
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.985021114349365,
                "transform": {
                    "location": {
                        "x": 891.066650390625,
                        "y": 3574.009521484375,
                        "z": 371.2125244140625
                    },
                    "rotation": {
                        "roll": 0.0016412639524787664,
                        "pitch": -0.370728999376297,
                        "yaw": 9.35455322265625
                    }
                },
                "velocity": {
                    "x": 7.880033493041992,
                    "y": 1.289541482925415,
                    "z": -0.05206122249364853
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9369373917579651,
                "transform": {
                    "location": {
                        "x": 928.5751953125,
                        "y": 3620.2470703125,
                        "z": 370.8855285644531
                    },
                    "rotation": {
                        "roll": -0.0026855398900806904,
                        "pitch": 0.2926326096057892,
                        "yaw": -80.91126251220703
                    }
                },
                "velocity": {
                    "x": 0.15186873078346252,
                    "y": -0.9245452880859375,
                    "z": 0.00188726419582963
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.17164945602417,
                "transform": {
                    "location": {
                        "x": 912.5651245117188,
                        "y": 3577.4892578125,
                        "z": 371.0721130371094
                    },
                    "rotation": {
                        "roll": -0.0003967288648709655,
                        "pitch": -0.48650750517845154,
                        "yaw": 9.13874340057373
                    }
                },
                "velocity": {
                    "x": 5.105853080749512,
                    "y": 0.8212997913360596,
                    "z": -0.04105471819639206
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005316012538969517,
                "transform": {
                    "location": {
                        "x": 964.0397338867188,
                        "y": 3582.82275390625,
                        "z": 370.5791015625
                    },
                    "rotation": {
                        "roll": 0.004196247551590204,
                        "pitch": 0.5409168004989624,
                        "yaw": -170.0839080810547
                    }
                },
                "velocity": {
                    "x": -4.414461363921873e-05,
                    "y": 6.853984814370051e-05,
                    "z": -0.0005253127310425043
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.679759979248047,
                "transform": {
                    "location": {
                        "x": 934.1412963867188,
                        "y": 3606.2578125,
                        "z": 370.8963623046875
                    },
                    "rotation": {
                        "roll": 0.0039380453526973724,
                        "pitch": 0.18814438581466675,
                        "yaw": -80.62584686279297
                    }
                },
                "velocity": {
                    "x": 0.588340699672699,
                    "y": -3.6324214935302734,
                    "z": 0.0020362758077681065
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012852190993726254,
                "transform": {
                    "location": {
                        "x": 930.977783203125,
                        "y": 3605.4599609375,
                        "z": 370.88665771484375
                    },
                    "rotation": {
                        "roll": -0.0008850092999637127,
                        "pitch": 0.013503283262252808,
                        "yaw": -80.81303405761719
                    }
                },
                "velocity": {
                    "x": -6.627538823522627e-05,
                    "y": 7.074337918311357e-05,
                    "z": 0.001281558070331812
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.757080078125,
                        "y": 3441.04052734375,
                        "z": 370.4869689941406
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.5112915039062,
                        "y": 3425.739990234375,
                        "z": 370.3876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.8376605516532436e-05,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -6.103522173361853e-05,
                        "pitch": 0.008496754802763462,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 3.260396397308796e-08,
                    "y": 2.251361621574688e-07,
                    "z": 3.8375932490453124e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.817595958709717,
                "transform": {
                    "location": {
                        "x": 933.2587890625,
                        "y": 3576.099853515625,
                        "z": 370.89739990234375
                    },
                    "rotation": {
                        "roll": 1.72800874710083,
                        "pitch": -0.4899909198284149,
                        "yaw": -35.61534881591797
                    }
                },
                "velocity": {
                    "x": 5.796079635620117,
                    "y": -5.245691299438477,
                    "z": -0.054643578827381134
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00040179627831093967,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 1.670702113187872e-05,
                    "y": 9.542359293845948e-06,
                    "z": 0.0004013353609479964
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.714519597357139e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.00018310682207811624,
                        "pitch": 0.5702388286590576,
                        "yaw": -170.83370971679688
                    }
                },
                "velocity": {
                    "x": 2.6190205971943215e-05,
                    "y": -1.8354523490415886e-05,
                    "z": 7.020374323474243e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.241943359375,
                        "y": 3456.6689453125,
                        "z": 370.568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.0014038085938,
                        "y": 3441.335205078125,
                        "z": 370.4857482910156
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002959354897029698,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0008553712978027761,
                        "pitch": -0.03887743502855301,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 5.423961192718707e-05,
                    "y": 4.78288393424009e-06,
                    "z": -0.0002908831520471722
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011245636269450188,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.0002136268885806203,
                        "pitch": -0.04394543543457985,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.791866336337989e-06,
                    "y": 2.457248058362893e-07,
                    "z": -0.001124560134485364
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001027847989462316,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 6.812014180468395e-05,
                        "pitch": -0.03802366182208061,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 3.878778443322517e-06,
                    "y": -1.2522423276095651e-06,
                    "z": -0.00102783995680511
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014910433674231172,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.0010681161656975746,
                        "pitch": -0.04571445286273956,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.7540987503016368e-05,
                    "y": 3.734493293450214e-05,
                    "z": 0.0014903211267665029
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.91015625,
                        "y": 3472.970947265625,
                        "z": 370.6365051269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.4688110351562,
                        "y": 3488.140625,
                        "z": 370.6981201171875
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.753460168838501,
                "transform": {
                    "location": {
                        "x": 934.34375,
                        "y": 3542.380126953125,
                        "z": 370.8451843261719
                    },
                    "rotation": {
                        "roll": -0.00018310474115423858,
                        "pitch": 0.10715200006961823,
                        "yaw": 99.2204360961914
                    }
                },
                "velocity": {
                    "x": -0.5949921011924744,
                    "y": 3.7059972286224365,
                    "z": 0.005755157209932804
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.188495397567749,
                "transform": {
                    "location": {
                        "x": 932.0616455078125,
                        "y": 3556.561279296875,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": 0.00026385110686533153,
                        "pitch": 0.03837199881672859,
                        "yaw": 99.29981231689453
                    }
                },
                "velocity": {
                    "x": -0.3464665412902832,
                    "y": 2.1608951091766357,
                    "z": 0.0023740099277347326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.369140625,
                        "y": 3457.69091796875,
                        "z": 370.57073974609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.551407814025879,
                "transform": {
                    "location": {
                        "x": 943.747314453125,
                        "y": 3504.71484375,
                        "z": 370.7507629394531
                    },
                    "rotation": {
                        "roll": 0.016949865967035294,
                        "pitch": -0.06744128465652466,
                        "yaw": 99.6540298461914
                    }
                },
                "velocity": {
                    "x": -0.9185439944267273,
                    "y": 5.474862098693848,
                    "z": 0.01705843023955822
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055394172668457,
                "transform": {
                    "location": {
                        "x": 939.638671875,
                        "y": 3529.953125,
                        "z": 370.8226013183594
                    },
                    "rotation": {
                        "roll": -0.0007324334001168609,
                        "pitch": 0.14525079727172852,
                        "yaw": 99.14012145996094
                    }
                },
                "velocity": {
                    "x": -1.2795131206512451,
                    "y": 7.953096866607666,
                    "z": 0.021647997200489044
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.573386192321777,
                "transform": {
                    "location": {
                        "x": 936.0385131835938,
                        "y": 3552.322998046875,
                        "z": 370.8656311035156
                    },
                    "rotation": {
                        "roll": 0.00082598184235394,
                        "pitch": 0.018817169591784477,
                        "yaw": 99.14007568359375
                    }
                },
                "velocity": {
                    "x": -1.0441112518310547,
                    "y": 6.489927291870117,
                    "z": 0.008983277715742588
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3194710314273834,
        "expert_target_speed": 0.0,
        "target_point": [
            21.41284609297,
            0.4367770513484719
        ],
        "target_point_next": [
            39.41247684738045,
            0.5374622386077545
        ]
    },
    "490": {
        "acceleration": [
            -0.018507149070501328,
            0.13636671006679535,
            0.0012390129268169403
        ],
        "angular_velocity": [
            0.026722293347120285,
            0.0013876387383788824,
            -0.021611947566270828
        ],
        "forward_vector": [
            -0.15335750579833984,
            0.9881702661514282,
            0.0009549854439683259
        ],
        "right_vector": [
            -0.9881707429885864,
            -0.1533575803041458,
            -2.372456719967886e-06
        ],
        "location": [
            930.8469848632812,
            3566.752685546875,
            370.8757019042969
        ],
        "rotation": [
            0.00013593182666227221,
            0.05471664294600487,
            98.8215560913086
        ],
        "velocity": [
            -0.00961423572152853,
            0.06366902589797974,
            0.0015637492761015892
        ],
        "speed": 0.06439082533487771,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.84423065185547,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                9.11490133148618e-06,
                -7.051601755847514e-07,
                -0.0005026567378081381
            ],
            "speed_kmh": 0.0018098635243145645,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.261410236358643,
                "transform": {
                    "location": {
                        "x": 981.7879638671875,
                        "y": 3585.76953125,
                        "z": 370.3742980957031
                    },
                    "rotation": {
                        "roll": 0.006924569606781006,
                        "pitch": 0.7661013007164001,
                        "yaw": -170.2010498046875
                    }
                },
                "velocity": {
                    "x": -5.183687210083008,
                    "y": -0.8982963562011719,
                    "z": 0.06992685049772263
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.7342262268066406,
                "transform": {
                    "location": {
                        "x": 931.7667846679688,
                        "y": 3620.916259765625,
                        "z": 370.89447021484375
                    },
                    "rotation": {
                        "roll": 0.016140518710017204,
                        "pitch": -0.8418275713920593,
                        "yaw": -81.52293395996094
                    }
                },
                "velocity": {
                    "x": 0.4816006124019623,
                    "y": -2.6914775371551514,
                    "z": 0.0015846919268369675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.078734397888184,
                "transform": {
                    "location": {
                        "x": 893.0667724609375,
                        "y": 3574.337158203125,
                        "z": 371.1991271972656
                    },
                    "rotation": {
                        "roll": 0.0006436796975322068,
                        "pitch": -0.38363805413246155,
                        "yaw": 9.289785385131836
                    }
                },
                "velocity": {
                    "x": 7.972589492797852,
                    "y": 1.3042041063308716,
                    "z": -0.05316440388560295
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8996223211288452,
                "transform": {
                    "location": {
                        "x": 928.6116943359375,
                        "y": 3620.02587890625,
                        "z": 370.88690185546875
                    },
                    "rotation": {
                        "roll": -0.0003967325610574335,
                        "pitch": 0.14645974338054657,
                        "yaw": -80.90575408935547
                    }
                },
                "velocity": {
                    "x": 0.1465223878622055,
                    "y": -0.8876081705093384,
                    "z": 0.0017970561748370528
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3363893032073975,
                "transform": {
                    "location": {
                        "x": 913.6649169921875,
                        "y": 3577.666259765625,
                        "z": 371.06591796875
                    },
                    "rotation": {
                        "roll": 0.0007117149652913213,
                        "pitch": -0.8299499154090881,
                        "yaw": 9.134163856506348
                    }
                },
                "velocity": {
                    "x": 2.3067002296447754,
                    "y": 0.37070032954216003,
                    "z": -0.02073228731751442
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6579585075378418,
                "transform": {
                    "location": {
                        "x": 963.943359375,
                        "y": 3582.80615234375,
                        "z": 370.57958984375
                    },
                    "rotation": {
                        "roll": 0.006523177959024906,
                        "pitch": 0.5999364852905273,
                        "yaw": -170.14712524414062
                    }
                },
                "velocity": {
                    "x": -0.6491520404815674,
                    "y": -0.10708912461996078,
                    "z": 0.006552991922944784
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.21964861452579498,
                "transform": {
                    "location": {
                        "x": 934.2385864257812,
                        "y": 3605.650146484375,
                        "z": 370.9029235839844
                    },
                    "rotation": {
                        "roll": -0.0007324424223043025,
                        "pitch": -0.584288477897644,
                        "yaw": -80.53428649902344
                    }
                },
                "velocity": {
                    "x": 0.029396289959549904,
                    "y": -0.21767041087150574,
                    "z": 0.0009825134184211493
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00019085344683844596,
                "transform": {
                    "location": {
                        "x": 930.977783203125,
                        "y": 3605.459716796875,
                        "z": 370.886474609375
                    },
                    "rotation": {
                        "roll": -0.0008850099402479827,
                        "pitch": 0.034711018204689026,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": -3.254018520237878e-05,
                    "y": 4.835771505895536e-06,
                    "z": 0.0001879967749118805
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.4261474609375,
                        "y": 3443.09716796875,
                        "z": 370.4987487792969
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.1961669921875,
                        "y": 3427.697509765625,
                        "z": 370.4007873535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0011709898244589567,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -6.103522173361853e-05,
                        "pitch": 0.008496754802763462,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -8.658033948449884e-06,
                    "y": -7.77828972786665e-07,
                    "z": 0.0011709575774148107
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.221468925476074,
                "transform": {
                    "location": {
                        "x": 934.4668579101562,
                        "y": 3574.53857421875,
                        "z": 370.8865661621094
                    },
                    "rotation": {
                        "roll": 2.0047738552093506,
                        "pitch": -0.30416879057884216,
                        "yaw": -53.275062561035156
                    }
                },
                "velocity": {
                    "x": 4.253952980041504,
                    "y": -7.035318851470947,
                    "z": -0.026712650433182716
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0013297266559675336,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 1.2110290299460758e-06,
                    "y": 9.152944926427153e-07,
                    "z": 0.0013297258410602808
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002906839072238654,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0004577620420604944,
                        "pitch": 0.5704095363616943,
                        "yaw": -170.8335723876953
                    }
                },
                "velocity": {
                    "x": 2.070620575977955e-05,
                    "y": 2.745799747572164e-06,
                    "z": 0.000289932475425303
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.9110717773438,
                        "y": 3458.725341796875,
                        "z": 370.5780334472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.6912231445312,
                        "y": 3443.2626953125,
                        "z": 370.4967041015625
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00025467219529673457,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0011571537470445037,
                        "pitch": -0.03921211510896683,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -9.985971701098606e-05,
                    "y": 3.911182375304634e-06,
                    "z": -0.00023424487153533846
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005981213180348277,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.00030517412233166397,
                        "pitch": -0.04412984848022461,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -3.109295903414022e-06,
                    "y": -1.4203600073869893e-07,
                    "z": -0.0005981132271699607
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005027398583479226,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.00018790359899867326,
                        "pitch": -0.03793486952781677,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 9.11490133148618e-06,
                    "y": -7.051601755847514e-07,
                    "z": -0.0005026567378081381
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001152817509137094,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.0019836435094475746,
                        "pitch": -0.04550271853804588,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 3.8777932786615565e-05,
                    "y": -2.2688023818773217e-05,
                    "z": 0.00115194171667099
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.6000366210938,
                        "y": 3474.8984375,
                        "z": 370.64459228515625
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.1686401367188,
                        "y": 3490.0048828125,
                        "z": 370.7051086425781
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.485785007476807,
                "transform": {
                    "location": {
                        "x": 934.179443359375,
                        "y": 3543.400634765625,
                        "z": 370.84686279296875
                    },
                    "rotation": {
                        "roll": -9.155070438282564e-05,
                        "pitch": 0.10823117196559906,
                        "yaw": 99.17691040039062
                    }
                },
                "velocity": {
                    "x": -0.7119395136833191,
                    "y": 4.428924560546875,
                    "z": 0.006241512019187212
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7294260263442993,
                "transform": {
                    "location": {
                        "x": 931.9822998046875,
                        "y": 3557.053955078125,
                        "z": 370.8742370605469
                    },
                    "rotation": {
                        "roll": 0.0001332188694505021,
                        "pitch": 0.09125132113695145,
                        "yaw": 99.25836944580078
                    }
                },
                "velocity": {
                    "x": -0.27373436093330383,
                    "y": 1.7076236009597778,
                    "z": 0.0023921108804643154
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.0591430664062,
                        "y": 3459.6181640625,
                        "z": 370.5797119140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.910740375518799,
                "transform": {
                    "location": {
                        "x": 943.5030517578125,
                        "y": 3506.1748046875,
                        "z": 370.75341796875
                    },
                    "rotation": {
                        "roll": 0.014832325279712677,
                        "pitch": 0.3970252275466919,
                        "yaw": 99.52741241455078
                    }
                },
                "velocity": {
                    "x": -1.1355875730514526,
                    "y": 6.8167724609375,
                    "z": 0.019631290808320045
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044391632080078,
                "transform": {
                    "location": {
                        "x": 939.3187255859375,
                        "y": 3531.939697265625,
                        "z": 370.82745361328125
                    },
                    "rotation": {
                        "roll": 0.00023414139286614954,
                        "pitch": 0.1341380774974823,
                        "yaw": 99.14823150634766
                    }
                },
                "velocity": {
                    "x": -1.278915286064148,
                    "y": 7.942058086395264,
                    "z": 0.017807254567742348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.33056116104126,
                "transform": {
                    "location": {
                        "x": 935.7823486328125,
                        "y": 3553.915283203125,
                        "z": 370.86749267578125
                    },
                    "rotation": {
                        "roll": 0.0001332395477220416,
                        "pitch": 0.01770384982228279,
                        "yaw": 99.14012145996094
                    }
                },
                "velocity": {
                    "x": -1.0056359767913818,
                    "y": 6.250173091888428,
                    "z": 0.006085891742259264
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.32686859369277954,
        "expert_target_speed": 0.0,
        "target_point": [
            21.397769724377405,
            0.4369783540407002
        ],
        "target_point_next": [
            39.39739949371389,
            0.5378394905971113
        ]
    },
    "495": {
        "acceleration": [
            0.01134384423494339,
            -0.12351244688034058,
            -0.011937905102968216
        ],
        "angular_velocity": [
            -0.02079763077199459,
            -0.013139895163476467,
            -0.010371174663305283
        ],
        "forward_vector": [
            -0.1533367931842804,
            0.9881735444068909,
            0.0009454487008042634
        ],
        "right_vector": [
            -0.9881739616394043,
            -0.15333685278892517,
            -3.553286660462618e-07
        ],
        "location": [
            930.8446044921875,
            3566.768310546875,
            370.875732421875
        ],
        "rotation": [
            2.0358840629342012e-05,
            0.05417022854089737,
            98.82035064697266
        ],
        "velocity": [
            -0.009592471644282341,
            0.061302490532398224,
            0.001225652638822794
        ],
        "speed": 0.06204845572390287,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.828426361083984,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                7.391113285848405e-06,
                3.3513781545480015e-06,
                -0.00132174848113209
            ],
            "speed_kmh": 0.0047583842219132534,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.473389148712158,
                "transform": {
                    "location": {
                        "x": 980.4837036132812,
                        "y": 3585.545166015625,
                        "z": 370.3910217285156
                    },
                    "rotation": {
                        "roll": 0.008717411197721958,
                        "pitch": 0.7290953397750854,
                        "yaw": -170.22186279296875
                    }
                },
                "velocity": {
                    "x": -5.39544677734375,
                    "y": -0.9180890917778015,
                    "z": 0.0652322918176651
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.2881833016872406,
                "transform": {
                    "location": {
                        "x": 931.794189453125,
                        "y": 3620.77587890625,
                        "z": 370.89599609375
                    },
                    "rotation": {
                        "roll": 0.06265489757061005,
                        "pitch": -1.0205941200256348,
                        "yaw": -81.67339324951172
                    }
                },
                "velocity": {
                    "x": 0.044227998703718185,
                    "y": -0.2847607135772705,
                    "z": 0.0022013091947883368
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.500223159790039,
                "transform": {
                    "location": {
                        "x": 894.985107421875,
                        "y": 3574.650634765625,
                        "z": 371.1863098144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4142441153526306,
                        "yaw": 9.274548530578613
                    }
                },
                "velocity": {
                    "x": 7.4028215408325195,
                    "y": 1.203709602355957,
                    "z": -0.051598671823740005
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6090444326400757,
                "transform": {
                    "location": {
                        "x": 928.6580810546875,
                        "y": 3619.739501953125,
                        "z": 370.88726806640625
                    },
                    "rotation": {
                        "roll": -0.0009765659924596548,
                        "pitch": 0.1285099983215332,
                        "yaw": -80.81297302246094
                    }
                },
                "velocity": {
                    "x": 0.26149269938468933,
                    "y": -1.5876530408859253,
                    "z": 0.001856527291238308
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0060441624373197556,
                "transform": {
                    "location": {
                        "x": 913.7539672851562,
                        "y": 3577.6806640625,
                        "z": 371.06878662109375
                    },
                    "rotation": {
                        "roll": -0.0005187984206713736,
                        "pitch": -1.2871968746185303,
                        "yaw": 9.13364028930664
                    }
                },
                "velocity": {
                    "x": -0.005930837243795395,
                    "y": -0.0009615245508030057,
                    "z": -0.0006576752639375627
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2312710285186768,
                "transform": {
                    "location": {
                        "x": 963.708984375,
                        "y": 3582.767333984375,
                        "z": 370.581787109375
                    },
                    "rotation": {
                        "roll": 0.006989495828747749,
                        "pitch": 0.6220253109931946,
                        "yaw": -170.1878204345703
                    }
                },
                "velocity": {
                    "x": -1.2149035930633545,
                    "y": -0.1996513307094574,
                    "z": 0.013301687315106392
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006314246449619532,
                "transform": {
                    "location": {
                        "x": 934.2388305664062,
                        "y": 3605.64892578125,
                        "z": 370.90142822265625
                    },
                    "rotation": {
                        "roll": -0.0045470986515283585,
                        "pitch": -0.4051804542541504,
                        "yaw": -80.53470611572266
                    }
                },
                "velocity": {
                    "x": -0.0007243268191814423,
                    "y": 0.00602346658706665,
                    "z": 0.00175011670216918
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007648032624274492,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": -6.934319117135601e-06,
                    "y": 3.2951263619906968e-06,
                    "z": 0.0007647647289559245
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.09521484375,
                        "y": 3445.1533203125,
                        "z": 370.5101623535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8909912109375,
                        "y": 3429.5947265625,
                        "z": 370.4135437011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003377445973455906,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -6.103522173361853e-05,
                        "pitch": 0.008496754802763462,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 6.995521744102007e-07,
                    "y": 6.172922439873219e-07,
                    "z": 0.0003377433167770505
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025970458984375,
                "transform": {
                    "location": {
                        "x": 935.3837280273438,
                        "y": 3572.70361328125,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 1.4485061168670654,
                        "pitch": -0.03326302021741867,
                        "yaw": -64.69764709472656
                    }
                },
                "velocity": {
                    "x": 2.957700490951538,
                    "y": -7.46108865737915,
                    "z": -0.019102802500128746
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005713551072403789,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 2.028821654675994e-06,
                    "y": -7.739873581158463e-06,
                    "z": 0.0005712990532629192
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.915089498856105e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0005188032519072294,
                        "pitch": 0.5704436898231506,
                        "yaw": -170.83348083496094
                    }
                },
                "velocity": {
                    "x": 1.5766097931191325e-05,
                    "y": 1.5678162981203059e-06,
                    "z": -2.4469303752994165e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.5799560546875,
                        "y": 3460.78173828125,
                        "z": 370.5870666503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.3809814453125,
                        "y": 3445.190185546875,
                        "z": 370.507568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00040714829810895026,
                "transform": {
                    "location": {
                        "x": 924.6840209960938,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0014174695825204253,
                        "pitch": -0.03908916935324669,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.00017901517276186496,
                    "y": 2.9196748073445633e-05,
                    "z": 0.0003645145334303379
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.197674181545153e-05,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 0.00029524232377298176,
                        "pitch": -0.04394543543457985,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.640229581629683e-07,
                    "y": 1.1759530025301501e-06,
                    "z": -5.196276833885349e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001321773394010961,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.00018790359899867326,
                        "pitch": -0.03793486952781677,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 7.391113285848405e-06,
                    "y": 3.3513781545480015e-06,
                    "z": -0.00132174848113209
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001175789744593203,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.0014648440992459655,
                        "pitch": -0.045598339289426804,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.00010014831786975265,
                    "y": 8.667822839925066e-05,
                    "z": 0.0011683059856295586
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2901611328125,
                        "y": 3476.822998046875,
                        "z": 370.6526794433594
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.8490600585938,
                        "y": 3491.991455078125,
                        "z": 370.7122497558594
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.235111713409424,
                "transform": {
                    "location": {
                        "x": 933.9852905273438,
                        "y": 3544.606689453125,
                        "z": 370.84893798828125
                    },
                    "rotation": {
                        "roll": -6.103825580794364e-05,
                        "pitch": 0.10959720611572266,
                        "yaw": 99.14965057373047
                    }
                },
                "velocity": {
                    "x": -0.8303523659706116,
                    "y": 5.168831825256348,
                    "z": 0.00940178893506527
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0290029048919678,
                "transform": {
                    "location": {
                        "x": 931.9078979492188,
                        "y": 3557.517333984375,
                        "z": 370.8751525878906
                    },
                    "rotation": {
                        "roll": -0.00048828028957359493,
                        "pitch": 0.04877437651157379,
                        "yaw": 99.23184204101562
                    }
                },
                "velocity": {
                    "x": -0.3209494650363922,
                    "y": 2.0034573078155518,
                    "z": 0.0016590500017628074
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.7529296875,
                        "y": 3461.52001953125,
                        "z": 370.5880126953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.353043556213379,
                "transform": {
                    "location": {
                        "x": 943.1784057617188,
                        "y": 3508.125,
                        "z": 370.75775146484375
                    },
                    "rotation": {
                        "roll": 0.00984917301684618,
                        "pitch": 0.7606508135795593,
                        "yaw": 99.4630355834961
                    }
                },
                "velocity": {
                    "x": -1.3696048259735107,
                    "y": 8.239961624145508,
                    "z": 0.023413820192217827
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055282592773438,
                "transform": {
                    "location": {
                        "x": 938.998779296875,
                        "y": 3533.926513671875,
                        "z": 370.8319091796875
                    },
                    "rotation": {
                        "roll": 0.0005253186682239175,
                        "pitch": 0.11740411818027496,
                        "yaw": 99.14868927001953
                    }
                },
                "velocity": {
                    "x": -1.2808756828308105,
                    "y": 7.952774524688721,
                    "z": 0.017747249454259872
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.120269298553467,
                "transform": {
                    "location": {
                        "x": 935.5354614257812,
                        "y": 3555.44970703125,
                        "z": 370.8691711425781
                    },
                    "rotation": {
                        "roll": -0.0010986324632540345,
                        "pitch": 0.019773395732045174,
                        "yaw": 99.14012145996094
                    }
                },
                "velocity": {
                    "x": -0.9721062183380127,
                    "y": 6.042571067810059,
                    "z": 0.006362628657370806
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3268711566925049,
        "expert_target_speed": 0.0,
        "target_point": [
            21.38195533448505,
            0.4374709633279279
        ],
        "target_point_next": [
            39.381582983708995,
            0.5387097471236597
        ]
    },
    "500": {
        "acceleration": [
            -0.018598493188619614,
            0.17101645469665527,
            -0.0024946220219135284
        ],
        "angular_velocity": [
            0.020338594913482666,
            0.018084511160850525,
            -0.02162456512451172
        ],
        "forward_vector": [
            -0.15332277119159698,
            0.9881757497787476,
            0.000944018189329654
        ],
        "right_vector": [
            -0.988176167011261,
            -0.15332284569740295,
            1.0652641321939882e-05
        ],
        "location": [
            930.8419799804688,
            3566.78515625,
            370.875732421875
        ],
        "rotation": [
            -0.0006103516789153218,
            0.05408826470375061,
            98.81954193115234
        ],
        "velocity": [
            -0.010760148987174034,
            0.07234887033700943,
            0.001407308503985405
        ],
        "speed": 0.07314465014796083,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.81138229370117,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -9.760971806827001e-06,
                3.0638184398412704e-06,
                -0.00043921868200413883
            ],
            "speed_kmh": 0.0015816161277991776,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 880.44921875,
                        "y": 3572.22021484375,
                        "z": 371.4855041503906
                    },
                    "rotation": {
                        "roll": -3.3351124084646244e-09,
                        "pitch": -0.3413386940956116,
                        "yaw": 9.140239715576172
                    }
                },
                "velocity": {
                    "x": -9.63898516559425e-10,
                    "y": -1.5508573592004637e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.578448295593262,
                "transform": {
                    "location": {
                        "x": 978.993896484375,
                        "y": 3585.29248046875,
                        "z": 370.40924072265625
                    },
                    "rotation": {
                        "roll": 0.005103776231408119,
                        "pitch": 0.7095746397972107,
                        "yaw": -170.3132781982422
                    }
                },
                "velocity": {
                    "x": -6.486522197723389,
                    "y": -1.093041181564331,
                    "z": 0.07918388396501541
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9767176508903503,
                "transform": {
                    "location": {
                        "x": 931.8232421875,
                        "y": 3620.5947265625,
                        "z": 370.8861999511719
                    },
                    "rotation": {
                        "roll": -0.004241934511810541,
                        "pitch": 0.22771166265010834,
                        "yaw": -81.63907623291016
                    }
                },
                "velocity": {
                    "x": 0.15369965136051178,
                    "y": -0.9645466208457947,
                    "z": 0.0019067382672801614
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.376496315002441,
                "transform": {
                    "location": {
                        "x": 896.8123779296875,
                        "y": 3574.947021484375,
                        "z": 371.1735534667969
                    },
                    "rotation": {
                        "roll": 0.000496021646540612,
                        "pitch": -0.40737977623939514,
                        "yaw": 9.2205228805542
                    }
                },
                "velocity": {
                    "x": 7.281473159790039,
                    "y": 1.1791081428527832,
                    "z": -0.05053184553980827
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.072148084640503,
                "transform": {
                    "location": {
                        "x": 928.7432861328125,
                        "y": 3619.217529296875,
                        "z": 370.88671875
                    },
                    "rotation": {
                        "roll": -0.0023193235974758863,
                        "pitch": 0.24275857210159302,
                        "yaw": -80.70868682861328
                    }
                },
                "velocity": {
                    "x": 0.3369308412075043,
                    "y": -2.0445713996887207,
                    "z": 0.0017056274227797985
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0044706640765070915,
                "transform": {
                    "location": {
                        "x": 913.7603149414062,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": -0.0003967347147408873,
                        "pitch": -0.47231438755989075,
                        "yaw": 9.133416175842285
                    }
                },
                "velocity": {
                    "x": -0.00396158779039979,
                    "y": -0.0005809431313537061,
                    "z": 0.001988759031519294
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.48574015498161316,
                "transform": {
                    "location": {
                        "x": 963.3753662109375,
                        "y": 3582.712158203125,
                        "z": 370.5855712890625
                    },
                    "rotation": {
                        "roll": 0.004803216550499201,
                        "pitch": 0.603317379951477,
                        "yaw": -170.2388153076172
                    }
                },
                "velocity": {
                    "x": -0.4792546033859253,
                    "y": -0.07889607548713684,
                    "z": 0.0058266352862119675
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0022919957991689444,
                "transform": {
                    "location": {
                        "x": 934.239501953125,
                        "y": 3605.64501953125,
                        "z": 370.89739990234375
                    },
                    "rotation": {
                        "roll": 0.0009757583029568195,
                        "pitch": 0.10759596526622772,
                        "yaw": -80.53482818603516
                    }
                },
                "velocity": {
                    "x": -0.00012772006448358297,
                    "y": 0.0015500111039727926,
                    "z": 0.0016835671849548817
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.7642822265625,
                        "y": 3447.209716796875,
                        "z": 370.5211486816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.5712280273438,
                        "y": 3431.5810546875,
                        "z": 370.4262390136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0013941987417638302,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -6.103522173361853e-05,
                        "pitch": 0.008496754802763462,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -9.131399565376341e-06,
                    "y": -6.18742024016683e-06,
                    "z": 0.001394155086018145
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.941923141479492,
                "transform": {
                    "location": {
                        "x": 936.005859375,
                        "y": 3570.828369140625,
                        "z": 370.8827209472656
                    },
                    "rotation": {
                        "roll": 0.7666599750518799,
                        "pitch": -0.05926554650068283,
                        "yaw": -72.21342468261719
                    }
                },
                "velocity": {
                    "x": 2.1682090759277344,
                    "y": -7.6402106285095215,
                    "z": 0.014139861799776554
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001721004955470562,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 5.375332875701133e-06,
                    "y": 9.610560482542496e-06,
                    "z": 0.0017209696816280484
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00043556219316087663,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0003662069793790579,
                        "pitch": 0.5704027414321899,
                        "yaw": -170.83346557617188
                    }
                },
                "velocity": {
                    "x": 2.660304198798258e-05,
                    "y": -7.865633961046115e-06,
                    "z": 0.0004346778441686183
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.2491455078125,
                        "y": 3462.838134765625,
                        "z": 370.59600830078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.0560913085938,
                        "y": 3447.208984375,
                        "z": 370.5183410644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004558331274893135,
                "transform": {
                    "location": {
                        "x": 924.6840209960938,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0012193757575005293,
                        "pitch": -0.03948532044887543,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -3.283941623521969e-05,
                    "y": -2.2099968191469088e-05,
                    "z": -0.0004541112284641713
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009808290051296353,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.00030517412233166397,
                        "pitch": -0.04412984848022461,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -3.5416333048488013e-06,
                    "y": 9.6380711056554e-07,
                    "z": -0.0009808221366256475
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00043933780398219824,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": -9.155223233392462e-05,
                        "pitch": -0.03805098310112953,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -9.760971806827001e-06,
                    "y": 3.0638184398412704e-06,
                    "z": -0.00043921868200413883
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011435045162215829,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.0010375970741733909,
                        "pitch": -0.04581007733941078,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 7.318658754229546e-05,
                    "y": 4.483985685510561e-05,
                    "z": 0.0011402787640690804
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.9618530273438,
                        "y": 3478.86376953125,
                        "z": 370.6612854003906
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.5228881835938,
                        "y": 3494.018310546875,
                        "z": 370.7196044921875
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.526209354400635,
                "transform": {
                    "location": {
                        "x": 933.7720336914062,
                        "y": 3545.93408203125,
                        "z": 370.85113525390625
                    },
                    "rotation": {
                        "roll": -6.102490078774281e-05,
                        "pitch": 0.10227524489164352,
                        "yaw": 99.13694763183594
                    }
                },
                "velocity": {
                    "x": -0.8768929243087769,
                    "y": 5.456185340881348,
                    "z": 0.009543171152472496
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008211181266233325,
                "transform": {
                    "location": {
                        "x": 931.8692016601562,
                        "y": 3557.75830078125,
                        "z": 370.873779296875
                    },
                    "rotation": {
                        "roll": 0.0009569821413606405,
                        "pitch": 0.24366699159145355,
                        "yaw": 99.23099517822266
                    }
                },
                "velocity": {
                    "x": 2.0542609490803443e-05,
                    "y": -0.0002520530833862722,
                    "z": 0.0007812056574039161
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.4246826171875,
                        "y": 3463.559814453125,
                        "z": 370.59686279296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.924149036407471,
                "transform": {
                    "location": {
                        "x": 942.8460693359375,
                        "y": 3510.135009765625,
                        "z": 370.7652893066406
                    },
                    "rotation": {
                        "roll": 0.020778972655534744,
                        "pitch": 0.29363664984703064,
                        "yaw": 99.35352325439453
                    }
                },
                "velocity": {
                    "x": -1.2815945148468018,
                    "y": 7.819791793823242,
                    "z": 0.022630490362644196
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043575286865234,
                "transform": {
                    "location": {
                        "x": 938.6788940429688,
                        "y": 3535.9130859375,
                        "z": 370.8359680175781
                    },
                    "rotation": {
                        "roll": -0.0002746622485574335,
                        "pitch": 0.11793003976345062,
                        "yaw": 99.14876556396484
                    }
                },
                "velocity": {
                    "x": -1.2789697647094727,
                    "y": 7.941223621368408,
                    "z": 0.017327336594462395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.909764289855957,
                "transform": {
                    "location": {
                        "x": 935.2966918945312,
                        "y": 3556.933349609375,
                        "z": 370.870849609375
                    },
                    "rotation": {
                        "roll": -0.0005798332276754081,
                        "pitch": 0.02304505743086338,
                        "yaw": 99.14033508300781
                    }
                },
                "velocity": {
                    "x": -0.9387345910072327,
                    "y": 5.834727764129639,
                    "z": 0.006645889021456242
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.32902494072914124,
        "expert_target_speed": 0.0,
        "target_point": [
            21.36490025892149,
            0.43776108850507756
        ],
        "target_point_next": [
            39.36452648226941,
            0.5392530675840463
        ]
    },
    "505": {
        "acceleration": [
            0.016663894057273865,
            -0.12682229280471802,
            0.016261480748653412
        ],
        "angular_velocity": [
            -0.009707722812891006,
            0.0023237266577780247,
            0.06726066023111343
        ],
        "forward_vector": [
            -0.15326352417469025,
            0.988184928894043,
            0.0009199379128403962
        ],
        "right_vector": [
            -0.9881853461265564,
            -0.15326358377933502,
            5.326378868630854e-06
        ],
        "location": [
            930.8395385742188,
            3566.8017578125,
            370.8757629394531
        ],
        "rotation": [
            -0.000305179157294333,
            0.052708566188812256,
            98.81610107421875
        ],
        "velocity": [
            -0.010063045658171177,
            0.06584230810403824,
            0.0019594382029026747
        ],
        "speed": 0.06660686469415548,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.79460144042969,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13305994868278503,
                "transform": {
                    "location": {
                        "x": 880.4484252929688,
                        "y": 3572.22021484375,
                        "z": 371.2310791015625
                    },
                    "rotation": {
                        "roll": 9.061663877218962e-05,
                        "pitch": -0.3378894329071045,
                        "yaw": 9.14021110534668
                    }
                },
                "velocity": {
                    "x": 0.0007880405755713582,
                    "y": 8.451439498458058e-05,
                    "z": 0.1330575942993164
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.654038906097412,
                "transform": {
                    "location": {
                        "x": 977.2285766601562,
                        "y": 3584.993896484375,
                        "z": 370.4304504394531
                    },
                    "rotation": {
                        "roll": 0.004161978606134653,
                        "pitch": 0.702170729637146,
                        "yaw": -170.44212341308594
                    }
                },
                "velocity": {
                    "x": -7.54792594909668,
                    "y": -1.2670007944107056,
                    "z": 0.08849046379327774
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9183067083358765,
                "transform": {
                    "location": {
                        "x": 931.8602905273438,
                        "y": 3620.363037109375,
                        "z": 370.8865661621094
                    },
                    "rotation": {
                        "roll": -0.006256098859012127,
                        "pitch": 0.2037786841392517,
                        "yaw": -81.5787124633789
                    }
                },
                "velocity": {
                    "x": 0.1474272608757019,
                    "y": -0.9063934087753296,
                    "z": 0.0018518733559176326
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.998487949371338,
                "transform": {
                    "location": {
                        "x": 898.6019897460938,
                        "y": 3575.23681640625,
                        "z": 371.1610107421875
                    },
                    "rotation": {
                        "roll": 0.0016059385379776359,
                        "pitch": -0.42303457856178284,
                        "yaw": 9.19865608215332
                    }
                },
                "velocity": {
                    "x": 6.9083476066589355,
                    "y": 1.1185965538024902,
                    "z": -0.04804973676800728
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7515949010848999,
                "transform": {
                    "location": {
                        "x": 928.760986328125,
                        "y": 3619.107177734375,
                        "z": 370.89105224609375
                    },
                    "rotation": {
                        "roll": 0.0005303071229718626,
                        "pitch": -0.29424452781677246,
                        "yaw": -80.66911315917969
                    }
                },
                "velocity": {
                    "x": 0.12244385480880737,
                    "y": -0.7415525913238525,
                    "z": 0.0014756870223209262
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002084910636767745,
                "transform": {
                    "location": {
                        "x": 913.76123046875,
                        "y": 3577.681884765625,
                        "z": 371.0611877441406
                    },
                    "rotation": {
                        "roll": 0.0010535578476265073,
                        "pitch": -0.34969884157180786,
                        "yaw": 9.133400917053223
                    }
                },
                "velocity": {
                    "x": 0.0007683195290155709,
                    "y": 0.00012158873141743243,
                    "z": 0.0019343612948432565
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011516973609104753,
                "transform": {
                    "location": {
                        "x": 963.3720092773438,
                        "y": 3582.7119140625,
                        "z": 370.58587646484375
                    },
                    "rotation": {
                        "roll": 0.004668652545660734,
                        "pitch": 0.5791590213775635,
                        "yaw": -170.23934936523438
                    }
                },
                "velocity": {
                    "x": 9.017355478135869e-05,
                    "y": -4.592135519487783e-05,
                    "z": 0.001147243077866733
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001925269141793251,
                "transform": {
                    "location": {
                        "x": 934.239501953125,
                        "y": 3605.64501953125,
                        "z": 370.8974914550781
                    },
                    "rotation": {
                        "roll": 0.0012060969602316618,
                        "pitch": 0.09480985254049301,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 0.00015477731358259916,
                    "y": -0.000769183796364814,
                    "z": 0.0017581414431333542
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.433349609375,
                        "y": 3449.26611328125,
                        "z": 370.5321350097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.2482299804688,
                        "y": 3433.587646484375,
                        "z": 370.4390869140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000876721809618175,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -0.00012207044346723706,
                        "pitch": 0.008380641229450703,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 5.816207249154104e-06,
                    "y": 1.8331704268348403e-05,
                    "z": 0.0008765108068473637
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.139239311218262,
                "transform": {
                    "location": {
                        "x": 936.5185546875,
                        "y": 3568.874267578125,
                        "z": 370.8821105957031
                    },
                    "rotation": {
                        "roll": 0.3512197434902191,
                        "pitch": -0.037688981741666794,
                        "yaw": -75.47867584228516
                    }
                },
                "velocity": {
                    "x": 1.9372005462646484,
                    "y": -7.905342102050781,
                    "z": -0.006594352424144745
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009470563963986933,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 3.5310455359649495e-07,
                    "y": 1.5555363006569678e-06,
                    "z": 0.0009470550576224923
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001294552203034982,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0003662069793790579,
                        "pitch": 0.5704027414321899,
                        "yaw": -170.83346557617188
                    }
                },
                "velocity": {
                    "x": 1.4746412489330396e-05,
                    "y": 1.0694208867789712e-05,
                    "z": -0.000128167201182805
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.9181518554688,
                        "y": 3464.894287109375,
                        "z": 370.6047668457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.7369384765625,
                        "y": 3449.192626953125,
                        "z": 370.529052734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001508469576947391,
                "transform": {
                    "location": {
                        "x": 924.6840209960938,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.00139805453363806,
                        "pitch": -0.03924626484513283,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.1916262337763328e-05,
                    "y": -9.7029005701188e-06,
                    "z": 0.0001500621874583885
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00034082288038916886,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.0001525920524727553,
                        "pitch": -0.04404105618596077,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.6269278805557406e-06,
                    "y": 9.442120472158422e-07,
                    "z": -0.00034081144258379936
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0002848236181307584,
                        "pitch": -0.03796219080686569,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010663432767614722,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.00100708135869354,
                        "pitch": -0.04568713158369064,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.718664109124802e-05,
                    "y": 4.4049043935956433e-05,
                    "z": 0.0010650861077010632
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.6482543945312,
                        "y": 3480.811279296875,
                        "z": 370.6692199707031
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.2106323242188,
                        "y": 3495.958740234375,
                        "z": 370.7261657714844
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.024655818939209,
                "transform": {
                    "location": {
                        "x": 933.6065673828125,
                        "y": 3546.96337890625,
                        "z": 370.8531799316406
                    },
                    "rotation": {
                        "roll": 0.0001974159968085587,
                        "pitch": 0.024957509711384773,
                        "yaw": 99.12940216064453
                    }
                },
                "velocity": {
                    "x": -0.3213208019733429,
                    "y": 1.9989943504333496,
                    "z": 0.002424974460154772
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012878800043836236,
                "transform": {
                    "location": {
                        "x": 931.8692626953125,
                        "y": 3557.7578125,
                        "z": 370.8749084472656
                    },
                    "rotation": {
                        "roll": 0.0009014628594741225,
                        "pitch": 0.1013941541314125,
                        "yaw": 99.23100280761719
                    }
                },
                "velocity": {
                    "x": -2.1966023268760182e-05,
                    "y": -0.00044475836330093443,
                    "z": 0.0012084463378414512
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.1088256835938,
                        "y": 3465.5224609375,
                        "z": 370.6051940917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.966543197631836,
                "transform": {
                    "location": {
                        "x": 942.5286254882812,
                        "y": 3512.07421875,
                        "z": 370.771240234375
                    },
                    "rotation": {
                        "roll": 0.013581433333456516,
                        "pitch": 0.18395064771175385,
                        "yaw": 99.30101013183594
                    }
                },
                "velocity": {
                    "x": -1.2832708358764648,
                    "y": 7.862478256225586,
                    "z": 0.021464290097355843
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056231498718262,
                "transform": {
                    "location": {
                        "x": 938.35888671875,
                        "y": 3537.89990234375,
                        "z": 370.8400573730469
                    },
                    "rotation": {
                        "roll": -0.00027465555467642844,
                        "pitch": 0.11898872256278992,
                        "yaw": 99.14881134033203
                    }
                },
                "velocity": {
                    "x": -1.2809418439865112,
                    "y": 7.953725814819336,
                    "z": 0.01750914566218853
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.713885307312012,
                "transform": {
                    "location": {
                        "x": 935.06591796875,
                        "y": 3558.36669921875,
                        "z": 370.87249755859375
                    },
                    "rotation": {
                        "roll": -0.00085449154721573,
                        "pitch": 0.021235056221485138,
                        "yaw": 99.14559936523438
                    }
                },
                "velocity": {
                    "x": -0.908150315284729,
                    "y": 5.641251087188721,
                    "z": 0.006074190139770508
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.33440926671028137,
        "expert_target_speed": 0.0,
        "target_point": [
            21.348094214886448,
            0.43918166408779946
        ],
        "target_point_next": [
            39.34771428350256,
            0.5417593786445289
        ]
    },
    "510": {
        "acceleration": [
            -0.025945864617824554,
            0.20455986261367798,
            -0.003415870014578104
        ],
        "angular_velocity": [
            0.02932726964354515,
            0.0034899853635579348,
            -0.020964300259947777
        ],
        "forward_vector": [
            -0.15323381125926971,
            0.9881894588470459,
            0.0009481905144639313
        ],
        "right_vector": [
            -0.9881899356842041,
            -0.15323388576507568,
            2.663174882400199e-06
        ],
        "location": [
            930.836669921875,
            3566.81982421875,
            370.8757629394531
        ],
        "rotation": [
            -0.0001525887637399137,
            0.05432732030749321,
            98.81438446044922
        ],
        "velocity": [
            -0.011975874193012714,
            0.07902117073535919,
            0.0011688709491863847
        ],
        "speed": 0.07992350709943637,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.776309967041016,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -5.4630800150334835e-06,
                1.718266844363825e-06,
                -0.0007098426576703787
            ],
            "speed_kmh": 0.0025555167337492396,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13216230273246765,
                "transform": {
                    "location": {
                        "x": 880.4486694335938,
                        "y": 3572.22021484375,
                        "z": 371.2822570800781
                    },
                    "rotation": {
                        "roll": 0.0006560797337442636,
                        "pitch": -0.3381967842578888,
                        "yaw": 9.140206336975098
                    }
                },
                "velocity": {
                    "x": 0.0007949057035148144,
                    "y": 0.00013061125355307013,
                    "z": 0.13215984404087067
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.037285327911377,
                "transform": {
                    "location": {
                        "x": 975.3865356445312,
                        "y": 3584.684814453125,
                        "z": 370.4525451660156
                    },
                    "rotation": {
                        "roll": 0.003654339350759983,
                        "pitch": 0.6591337323188782,
                        "yaw": -170.52310180664062
                    }
                },
                "velocity": {
                    "x": -6.9412078857421875,
                    "y": -1.1559747457504272,
                    "z": 0.08210621029138565
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4000447988510132,
                "transform": {
                    "location": {
                        "x": 931.9010620117188,
                        "y": 3620.106201171875,
                        "z": 370.88775634765625
                    },
                    "rotation": {
                        "roll": -0.002014164114370942,
                        "pitch": 0.08245404064655304,
                        "yaw": -81.47142028808594
                    }
                },
                "velocity": {
                    "x": 0.22305530309677124,
                    "y": -1.3821604251861572,
                    "z": 0.002047376474365592
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.0477166175842285,
                "transform": {
                    "location": {
                        "x": 900.089111328125,
                        "y": 3575.477783203125,
                        "z": 371.1513977050781
                    },
                    "rotation": {
                        "roll": 0.0005282112397253513,
                        "pitch": -0.5633198022842407,
                        "yaw": 9.19758129119873
                    }
                },
                "velocity": {
                    "x": 3.9956424236297607,
                    "y": 0.6465176939964294,
                    "z": -0.02943986840546131
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7637461423873901,
                "transform": {
                    "location": {
                        "x": 928.8135986328125,
                        "y": 3618.78955078125,
                        "z": 370.8869323730469
                    },
                    "rotation": {
                        "roll": 0.00015067913045641035,
                        "pitch": 0.2500327229499817,
                        "yaw": -80.68540954589844
                    }
                },
                "velocity": {
                    "x": 0.28722208738327026,
                    "y": -1.7402011156082153,
                    "z": 0.0019837950821965933
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006331175682134926,
                "transform": {
                    "location": {
                        "x": 913.7607421875,
                        "y": 3577.681884765625,
                        "z": 371.0617980957031
                    },
                    "rotation": {
                        "roll": 0.0008142581791616976,
                        "pitch": -0.41787779331207275,
                        "yaw": 9.13337516784668
                    }
                },
                "velocity": {
                    "x": 0.0006121437763795257,
                    "y": 9.743850387167186e-05,
                    "z": -0.00012893255916424096
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00015687517588958144,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.71142578125,
                        "z": 370.585693359375
                    },
                    "rotation": {
                        "roll": 0.004487916827201843,
                        "pitch": 0.6001003980636597,
                        "yaw": -170.23931884765625
                    }
                },
                "velocity": {
                    "x": 2.7722267986973748e-05,
                    "y": -8.264798452728428e-06,
                    "z": 0.00015418491966556758
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003200268547516316,
                "transform": {
                    "location": {
                        "x": 934.2394409179688,
                        "y": 3605.6455078125,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0008472923072986305,
                        "pitch": 0.05370577424764633,
                        "yaw": -80.53480529785156
                    }
                },
                "velocity": {
                    "x": 7.264300802489743e-05,
                    "y": -0.0002970284840557724,
                    "z": -9.441540169063956e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.1024169921875,
                        "y": 3451.322509765625,
                        "z": 370.54248046875
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.9356079101562,
                        "y": 3435.530517578125,
                        "z": 370.4512023925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -0.00012207044346723706,
                        "pitch": 0.008380641229450703,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.106146812438965,
                "transform": {
                    "location": {
                        "x": 936.966552734375,
                        "y": 3566.9052734375,
                        "z": 370.8801574707031
                    },
                    "rotation": {
                        "roll": 0.2524939477443695,
                        "pitch": -0.055174265056848526,
                        "yaw": -77.4441909790039
                    }
                },
                "velocity": {
                    "x": 1.6507201194763184,
                    "y": -7.936289310455322,
                    "z": -0.0065591237507760525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00027678586775437,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 5.010666654925444e-07,
                    "y": 2.8326758183538914e-07,
                    "z": 0.0002767852565739304
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.63350321399048e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0003662069793790579,
                        "pitch": 0.5704027414321899,
                        "yaw": -170.83346557617188
                    }
                },
                "velocity": {
                    "x": 1.1456459105829708e-05,
                    "y": 1.54086847032886e-05,
                    "z": 9.440211579203606e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.5872192382812,
                        "y": 3466.950927734375,
                        "z": 370.6134338378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.422607421875,
                        "y": 3451.145263671875,
                        "z": 370.5389099121094
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00035567604936659336,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0010834855493158102,
                        "pitch": -0.03933505713939667,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -3.3085922041209415e-05,
                    "y": 3.263487815274857e-05,
                    "z": -0.00035262692836113274
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011007378343492746,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.0001525920524727553,
                        "pitch": -0.04404105618596077,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -8.887797662282537e-07,
                    "y": 6.307521971393726e-07,
                    "z": -0.0011007373686879873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007098657661117613,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0002848236181307584,
                        "pitch": -0.03796219080686569,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -5.4630800150334835e-06,
                    "y": 1.718266844363825e-06,
                    "z": -0.0007098426576703787
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015888978959992528,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.0002746600366663188,
                        "pitch": -0.04598766192793846,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -4.569288284983486e-05,
                    "y": -2.0819204564759275e-06,
                    "z": 0.0015882394509389997
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.3292236328125,
                        "y": 3482.794189453125,
                        "z": 370.67730712890625
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.8892822265625,
                        "y": 3497.955322265625,
                        "z": 370.7330322265625
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3145277500152588,
                "transform": {
                    "location": {
                        "x": 933.5909423828125,
                        "y": 3547.061767578125,
                        "z": 370.8531799316406
                    },
                    "rotation": {
                        "roll": -0.00021362521511036903,
                        "pitch": 0.04105626419186592,
                        "yaw": 99.15056610107422
                    }
                },
                "velocity": {
                    "x": -0.04880314692854881,
                    "y": 0.3107125461101532,
                    "z": 0.0019143485696986318
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004630779440049082,
                "transform": {
                    "location": {
                        "x": 931.8693237304688,
                        "y": 3557.75732421875,
                        "z": 370.8751525878906
                    },
                    "rotation": {
                        "roll": 0.0008207872160710394,
                        "pitch": 0.07076075673103333,
                        "yaw": 99.23099517822266
                    }
                },
                "velocity": {
                    "x": -9.39395758905448e-05,
                    "y": -9.170212433673441e-05,
                    "z": 0.0004440802149474621
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.792236328125,
                        "y": 3467.4892578125,
                        "z": 370.61346435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.135123252868652,
                "transform": {
                    "location": {
                        "x": 942.2020874023438,
                        "y": 3514.076416015625,
                        "z": 370.7766418457031
                    },
                    "rotation": {
                        "roll": 0.010310365818440914,
                        "pitch": 0.2288523018360138,
                        "yaw": 99.24567413330078
                    }
                },
                "velocity": {
                    "x": -1.3042652606964111,
                    "y": 8.029860496520996,
                    "z": 0.021637018769979477
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043124198913574,
                "transform": {
                    "location": {
                        "x": 938.0390625,
                        "y": 3539.88671875,
                        "z": 370.84417724609375
                    },
                    "rotation": {
                        "roll": 0.00029065049602650106,
                        "pitch": 0.11842864006757736,
                        "yaw": 99.14556884765625
                    }
                },
                "velocity": {
                    "x": -1.278334379196167,
                    "y": 7.9408698081970215,
                    "z": 0.017185907810926437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.50474214553833,
                "transform": {
                    "location": {
                        "x": 934.84326171875,
                        "y": 3559.75,
                        "z": 370.8739013671875
                    },
                    "rotation": {
                        "roll": -9.155305451713502e-05,
                        "pitch": 0.016112415120005608,
                        "yaw": 99.14539337158203
                    }
                },
                "velocity": {
                    "x": -0.8749898076057434,
                    "y": 5.43475341796875,
                    "z": 0.005806340835988522
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.33403730392456055,
        "expert_target_speed": 0.0,
        "target_point": [
            21.32978850095203,
            0.43975149762881705
        ],
        "target_point_next": [
            39.32940550452059,
            0.5428656426200549
        ]
    },
    "515": {
        "acceleration": [
            0.017511919140815735,
            -0.15964463353157043,
            0.005776404868811369
        ],
        "angular_velocity": [
            -0.026269253343343735,
            0.0009652087464928627,
            -0.00367222772911191
        ],
        "forward_vector": [
            -0.15317915380001068,
            0.988197922706604,
            0.0009479520376771688
        ],
        "right_vector": [
            -0.9881983995437622,
            -0.15317922830581665,
            -1.088657882064581e-06
        ],
        "location": [
            930.8338012695312,
            3566.8388671875,
            370.8757629394531
        ],
        "rotation": [
            6.237553316168487e-05,
            0.05431365966796875,
            98.81121063232422
        ],
        "velocity": [
            -0.011246060021221638,
            0.07306687533855438,
            0.0014117335667833686
        ],
        "speed": 0.07392727600649686,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.757057189941406,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -2.2193982658791356e-05,
                -1.3465620440911152e-06,
                8.907382289180532e-05
            ],
            "speed_kmh": 0.00033050533275765453,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7952923774719238,
                "transform": {
                    "location": {
                        "x": 880.5759887695312,
                        "y": 3572.24169921875,
                        "z": 371.2955017089844
                    },
                    "rotation": {
                        "roll": 0.004308955278247595,
                        "pitch": -0.4890688359737396,
                        "yaw": 9.154767990112305
                    }
                },
                "velocity": {
                    "x": 1.769317865371704,
                    "y": 0.30425959825515747,
                    "z": -0.003887348109856248
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.978480815887451,
                "transform": {
                    "location": {
                        "x": 974.0070190429688,
                        "y": 3584.454833984375,
                        "z": 370.4695739746094
                    },
                    "rotation": {
                        "roll": 0.0021031820215284824,
                        "pitch": 0.5607448220252991,
                        "yaw": -170.6094207763672
                    }
                },
                "velocity": {
                    "x": -2.9380695819854736,
                    "y": -0.4879228472709656,
                    "z": 0.03204095736145973
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.571611166000366,
                "transform": {
                    "location": {
                        "x": 931.9780883789062,
                        "y": 3619.622314453125,
                        "z": 370.8865661621094
                    },
                    "rotation": {
                        "roll": -0.009613041765987873,
                        "pitch": 0.27617186307907104,
                        "yaw": -81.3006362915039
                    }
                },
                "velocity": {
                    "x": 0.4118267595767975,
                    "y": -2.5384206771850586,
                    "z": 0.0016900920309126377
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5495553612709045,
                "transform": {
                    "location": {
                        "x": 900.3786010742188,
                        "y": 3575.52490234375,
                        "z": 371.14959716796875
                    },
                    "rotation": {
                        "roll": 0.0025190492160618305,
                        "pitch": -0.6395583748817444,
                        "yaw": 9.178854942321777
                    }
                },
                "velocity": {
                    "x": 0.5427735447883606,
                    "y": 0.08595907688140869,
                    "z": -0.004360618535429239
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1973040103912354,
                "transform": {
                    "location": {
                        "x": 928.902099609375,
                        "y": 3618.252685546875,
                        "z": 370.8871154785156
                    },
                    "rotation": {
                        "roll": 0.0037638521753251553,
                        "pitch": 0.2785077691078186,
                        "yaw": -80.7085952758789
                    }
                },
                "velocity": {
                    "x": 0.35406458377838135,
                    "y": -2.1685891151428223,
                    "z": 0.0019622992258518934
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006637406768277287,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.71142578125,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.0049056983552873135,
                        "pitch": 0.6035701036453247,
                        "yaw": -170.23931884765625
                    }
                },
                "velocity": {
                    "x": 3.16528239636682e-05,
                    "y": -2.4690925783943385e-05,
                    "z": 0.0006625255919061601
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00015622864884790033,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89801025390625
                    },
                    "rotation": {
                        "roll": 0.00037891214014962316,
                        "pitch": 0.03542818874120712,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -2.9221448130556382e-05,
                    "y": 1.2602927199623082e-05,
                    "z": 0.000152953143697232
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.7715454101562,
                        "y": 3453.378662109375,
                        "z": 370.55279541015625
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.6129760742188,
                        "y": 3437.53564453125,
                        "z": 370.4632873535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001026931102387607,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0007246036548167467,
                        "pitch": 0.009015848860144615,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -2.564638816693332e-05,
                    "y": -1.088779481506208e-05,
                    "z": 0.001026553101837635
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.050677299499512,
                "transform": {
                    "location": {
                        "x": 937.3814086914062,
                        "y": 3564.811767578125,
                        "z": 370.8782653808594
                    },
                    "rotation": {
                        "roll": 0.14490392804145813,
                        "pitch": 0.0949191302061081,
                        "yaw": -78.87633514404297
                    }
                },
                "velocity": {
                    "x": 1.699352741241455,
                    "y": -8.889707565307617,
                    "z": -0.007169446907937527
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0013988028513267636,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -5.881851393496618e-06,
                    "y": 7.821462304491433e-07,
                    "z": 0.0013987902784720063
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00047311093658208847,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0007934551103971899,
                        "pitch": 0.5704095363616943,
                        "yaw": -170.8333740234375
                    }
                },
                "velocity": {
                    "x": 9.874328497971874e-06,
                    "y": 1.3596284588857088e-05,
                    "z": -0.0004728124476969242
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.2562866210938,
                        "y": 3469.007080078125,
                        "z": 370.62200927734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.1044921875,
                        "y": 3453.121826171875,
                        "z": 370.54888916015625
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.486444620648399e-05,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.00045255848090164363,
                        "pitch": -0.03887743502855301,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.4136723368428648e-05,
                    "y": 1.6621279428363778e-05,
                    "z": -1.8886010366259143e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006263722316361964,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.0001525920524727553,
                        "pitch": -0.04404105618596077,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.0563717839650053e-07,
                    "y": 1.517166310804896e-06,
                    "z": -0.0006263703689910471
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.180703636957332e-05,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": -0.00015258706116583198,
                        "pitch": -0.03802366182208061,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.2193982658791356e-05,
                    "y": -1.3465620440911152e-06,
                    "z": 8.907382289180532e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009138408349826932,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.0011291509727016091,
                        "pitch": -0.04565298184752464,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -3.1595060136169195e-05,
                    "y": -8.371257536055055e-06,
                    "z": 0.0009132561390288174
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.0354614257812,
                        "y": 3484.619873046875,
                        "z": 370.68463134765625
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.418039321899414,
                "transform": {
                    "location": {
                        "x": 944.6130981445312,
                        "y": 3499.655517578125,
                        "z": 370.7353820800781
                    },
                    "rotation": {
                        "roll": -0.001373292994685471,
                        "pitch": 0.15201951563358307,
                        "yaw": 99.26032257080078
                    }
                },
                "velocity": {
                    "x": -1.0582331418991089,
                    "y": 6.330193996429443,
                    "z": 0.0037650871090590954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1048719882965088,
                "transform": {
                    "location": {
                        "x": 933.5625,
                        "y": 3547.2392578125,
                        "z": 370.85308837890625
                    },
                    "rotation": {
                        "roll": 0.00030244977097027004,
                        "pitch": 0.10157173871994019,
                        "yaw": 99.18158721923828
                    }
                },
                "velocity": {
                    "x": -0.17604467272758484,
                    "y": 1.0907553434371948,
                    "z": 0.0017706298967823386
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011915024369955063,
                "transform": {
                    "location": {
                        "x": 931.8693237304688,
                        "y": 3557.75732421875,
                        "z": 370.87518310546875
                    },
                    "rotation": {
                        "roll": 0.0009935563430190086,
                        "pitch": 0.06454528123140335,
                        "yaw": 99.2309799194336
                    }
                },
                "velocity": {
                    "x": 8.077769962255843e-06,
                    "y": -3.5746859339269577e-06,
                    "z": 0.001191469724290073
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.4840698242188,
                        "y": 3469.4052734375,
                        "z": 370.6215515136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.946944236755371,
                "transform": {
                    "location": {
                        "x": 941.8810424804688,
                        "y": 3516.055908203125,
                        "z": 370.78240966796875
                    },
                    "rotation": {
                        "roll": 0.008855344727635384,
                        "pitch": 0.13467766344547272,
                        "yaw": 99.22535705566406
                    }
                },
                "velocity": {
                    "x": -1.2708909511566162,
                    "y": 7.844635486602783,
                    "z": 0.021243734285235405
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054471969604492,
                "transform": {
                    "location": {
                        "x": 937.7191772460938,
                        "y": 3541.873779296875,
                        "z": 370.8479309082031
                    },
                    "rotation": {
                        "roll": -0.0001525855768704787,
                        "pitch": 0.09908554702997208,
                        "yaw": 99.14566802978516
                    }
                },
                "velocity": {
                    "x": -1.2801847457885742,
                    "y": 7.952072620391846,
                    "z": 0.01386131253093481
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.335879802703857,
                "transform": {
                    "location": {
                        "x": 934.6281127929688,
                        "y": 3561.0869140625,
                        "z": 370.8752746582031
                    },
                    "rotation": {
                        "roll": 0.0002453444467391819,
                        "pitch": 0.013134453445672989,
                        "yaw": 99.1441879272461
                    }
                },
                "velocity": {
                    "x": -0.8472949862480164,
                    "y": 5.2681756019592285,
                    "z": 0.005444192793220282
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3229365050792694,
        "expert_target_speed": 0.0,
        "target_point": [
            21.310506704934596,
            0.44100334040857136
        ],
        "target_point_next": [
            39.31011802704516,
            0.5451045171596638
        ]
    },
    "520": {
        "acceleration": [
            -0.03133794292807579,
            0.2129286527633667,
            0.004677963443100452
        ],
        "angular_velocity": [
            0.032567478716373444,
            -0.019496401771903038,
            -0.0217939093708992
        ],
        "forward_vector": [
            -0.15316468477249146,
            0.9882002472877502,
            0.0009397266549058259
        ],
        "right_vector": [
            -0.9882006645202637,
            -0.15316474437713623,
            1.0653456001818995e-06
        ],
        "location": [
            930.830810546875,
            3566.858642578125,
            370.8757629394531
        ],
        "rotation": [
            -6.103983469074592e-05,
            0.05384237691760063,
            98.81037139892578
        ],
        "velocity": [
            -0.012616653926670551,
            0.08355385810136795,
            0.0016553306486457586
        ],
        "speed": 0.0845010482771007,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.737056732177734,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                1.1137791489090887e-06,
                1.4370585859069251e-06,
                -0.0008495749207213521
            ],
            "speed_kmh": 0.0030584767182730726,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.160128355026245,
                "transform": {
                    "location": {
                        "x": 881.21435546875,
                        "y": 3572.3505859375,
                        "z": 371.29132080078125
                    },
                    "rotation": {
                        "roll": 0.002806456061080098,
                        "pitch": -0.5048807263374329,
                        "yaw": 9.320724487304688
                    }
                },
                "velocity": {
                    "x": 3.1140716075897217,
                    "y": 0.5371192693710327,
                    "z": -0.021736258640885353
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006525909411720932,
                "transform": {
                    "location": {
                        "x": 973.8592529296875,
                        "y": 3584.43017578125,
                        "z": 370.4713134765625
                    },
                    "rotation": {
                        "roll": 0.0014826493570581079,
                        "pitch": 0.5493862628936768,
                        "yaw": -170.62469482421875
                    }
                },
                "velocity": {
                    "x": 0.0002624212938826531,
                    "y": -9.809918083192315e-06,
                    "z": 0.0005974225932732224
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0084046246483922,
                "transform": {
                    "location": {
                        "x": 932.0431518554688,
                        "y": 3619.205810546875,
                        "z": 370.8915100097656
                    },
                    "rotation": {
                        "roll": 0.004578257445245981,
                        "pitch": -0.3168046474456787,
                        "yaw": -81.02906799316406
                    }
                },
                "velocity": {
                    "x": 0.0016060291090980172,
                    "y": -0.008209224790334702,
                    "z": 0.0008167098858393729
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.473002552986145,
                "transform": {
                    "location": {
                        "x": 900.6587524414062,
                        "y": 3575.568603515625,
                        "z": 371.1463317871094
                    },
                    "rotation": {
                        "roll": 0.0005219629965722561,
                        "pitch": -0.4177889823913574,
                        "yaw": 9.257609367370605
                    }
                },
                "velocity": {
                    "x": 1.4536291360855103,
                    "y": 0.23787127435207367,
                    "z": -0.010776338167488575
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.783393383026123,
                "transform": {
                    "location": {
                        "x": 928.9244995117188,
                        "y": 3618.116455078125,
                        "z": 370.89190673828125
                    },
                    "rotation": {
                        "roll": 0.003520389087498188,
                        "pitch": -0.3172895908355713,
                        "yaw": -80.72017669677734
                    }
                },
                "velocity": {
                    "x": 0.12558868527412415,
                    "y": -0.7732594013214111,
                    "z": 0.0015991592081263661
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00011049739259760827,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005651084706187248,
                        "pitch": 0.6042736172676086,
                        "yaw": -170.23931884765625
                    }
                },
                "velocity": {
                    "x": 1.8163695131079294e-05,
                    "y": 3.455188107182039e-06,
                    "z": 0.00010893950093304738
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00030829873867332935,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00020001819939352572,
                        "pitch": 0.03822173550724983,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -4.41250540461624e-06,
                    "y": 1.6489009794895537e-05,
                    "z": 0.00030782585963606834
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.4405517578125,
                        "y": 3455.435302734375,
                        "z": 370.5626220703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.3042602539062,
                        "y": 3439.4541015625,
                        "z": 370.4749450683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004617693484760821,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0007246036548167467,
                        "pitch": 0.009015848860144615,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 3.7424616294856605e-08,
                    "y": -9.219098160428985e-07,
                    "z": 0.00046176841715350747
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.173066139221191,
                "transform": {
                    "location": {
                        "x": 937.8099975585938,
                        "y": 3562.501220703125,
                        "z": 370.87615966796875
                    },
                    "rotation": {
                        "roll": 0.11192003637552261,
                        "pitch": 0.19183267652988434,
                        "yaw": -79.63729095458984
                    }
                },
                "velocity": {
                    "x": 1.7849597930908203,
                    "y": -10.015243530273438,
                    "z": -0.009646368212997913
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006230036960914731,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -1.0143647159566171e-05,
                    "y": -1.1460915629868396e-05,
                    "z": 0.0006228156853467226
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -6.1034501413814723e-05,
                        "pitch": 0.5704710483551025,
                        "yaw": -170.83334350585938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.9253540039062,
                        "y": 3471.063720703125,
                        "z": 370.6306457519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.7891235351562,
                        "y": 3455.08203125,
                        "z": 370.55853271484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6044835976790637e-06,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.001028587343171239,
                        "pitch": -0.03893890604376793,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -5.63282526400144e-07,
                    "y": 2.5427200398553396e-06,
                    "z": 2.493828965555167e-08
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002322220680071041,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 9.534585842629895e-05,
                        "pitch": -0.04412984848022461,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.687091056141071e-06,
                    "y": 2.134530859621009e-06,
                    "z": -0.00023208498896565288
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008495768415741622,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": -0.00015258706116583198,
                        "pitch": -0.03802366182208061,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.1137791489090887e-06,
                    "y": 1.4370585859069251e-06,
                    "z": -0.0008495749207213521
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001014403416775167,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.0007934560999274254,
                        "pitch": -0.0455641895532608,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.00011470435129012913,
                    "y": 1.8022099538939074e-05,
                    "z": 0.0010077363112941384
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7573852539062,
                        "y": 3486.347412109375,
                        "z": 370.6912536621094
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.158634662628174,
                "transform": {
                    "location": {
                        "x": 944.3529663085938,
                        "y": 3501.20458984375,
                        "z": 370.73822021484375
                    },
                    "rotation": {
                        "roll": -0.0005493126809597015,
                        "pitch": 0.18136200308799744,
                        "yaw": 99.54515075683594
                    }
                },
                "velocity": {
                    "x": -1.038262963294983,
                    "y": 6.070460796356201,
                    "z": 0.017089566215872765
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8263118267059326,
                "transform": {
                    "location": {
                        "x": 933.50390625,
                        "y": 3547.605224609375,
                        "z": 370.8536376953125
                    },
                    "rotation": {
                        "roll": 1.9079874618910253e-05,
                        "pitch": 0.10933083295822144,
                        "yaw": 99.19840240478516
                    }
                },
                "velocity": {
                    "x": -0.29144543409347534,
                    "y": 1.8029054403305054,
                    "z": 0.0025301361456513405
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00047130059101618826,
                "transform": {
                    "location": {
                        "x": 931.8693237304688,
                        "y": 3557.75732421875,
                        "z": 370.8752136230469
                    },
                    "rotation": {
                        "roll": 0.0011160529684275389,
                        "pitch": 0.06431988626718521,
                        "yaw": 99.2309799194336
                    }
                },
                "velocity": {
                    "x": 2.8439155812520767e-06,
                    "y": -1.6759266145527363e-05,
                    "z": 0.00047099392395466566
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.18310546875,
                        "y": 3471.2744140625,
                        "z": 370.6293640136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.051666259765625,
                "transform": {
                    "location": {
                        "x": 941.5618286132812,
                        "y": 3518.02734375,
                        "z": 370.7878112792969
                    },
                    "rotation": {
                        "roll": 0.005177139770239592,
                        "pitch": 0.17275597155094147,
                        "yaw": 99.17761993408203
                    }
                },
                "velocity": {
                    "x": -1.2860249280929565,
                    "y": 7.948269367218018,
                    "z": 0.02179250679910183
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.812656402587891,
                "transform": {
                    "location": {
                        "x": 937.4028930664062,
                        "y": 3543.83837890625,
                        "z": 370.8511657714844
                    },
                    "rotation": {
                        "roll": -0.00018310452287551016,
                        "pitch": 0.06317241489887238,
                        "yaw": 99.1446304321289
                    }
                },
                "velocity": {
                    "x": -1.2416534423828125,
                    "y": 7.713346481323242,
                    "z": 0.01350510586053133
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.133468151092529,
                "transform": {
                    "location": {
                        "x": 934.4202880859375,
                        "y": 3562.3779296875,
                        "z": 370.8764343261719
                    },
                    "rotation": {
                        "roll": 0.00027338555082678795,
                        "pitch": 0.013086642138659954,
                        "yaw": 99.14335632324219
                    }
                },
                "velocity": {
                    "x": -0.8157652020454407,
                    "y": 5.068233489990234,
                    "z": 0.005632524378597736
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3298683166503906,
        "expert_target_speed": 0.0,
        "target_point": [
            21.29049984575713,
            0.4414019674661329
        ],
        "target_point_next": [
            39.29010957731437,
            0.5457777964774682
        ]
    },
    "525": {
        "acceleration": [
            -0.21584513783454895,
            1.551580548286438,
            -0.01007080078125
        ],
        "angular_velocity": [
            0.5190238356590271,
            0.02453482151031494,
            -0.4429020881652832
        ],
        "forward_vector": [
            -0.15315958857536316,
            0.9882009029388428,
            0.0010570285376161337
        ],
        "right_vector": [
            -0.9882014393806458,
            -0.15315967798233032,
            -2.8618958367587766e-06
        ],
        "location": [
            930.8276977539062,
            3566.879638671875,
            370.8757629394531
        ],
        "rotation": [
            0.00016397464787587523,
            0.060563284903764725,
            98.8100814819336
        ],
        "velocity": [
            -0.023579878732562065,
            0.16227124631404877,
            0.0013769912766292691
        ],
        "speed": 0.16397551055373183,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.7158317565918,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -7.409908448607894e-06,
                8.181435759979649e-07,
                -0.00039223101339302957
            ],
            "speed_kmh": 0.0014122866712690028,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.293219089508057,
                "transform": {
                    "location": {
                        "x": 882.136474609375,
                        "y": 3572.508056640625,
                        "z": 371.2850341796875
                    },
                    "rotation": {
                        "roll": 0.0001772740506567061,
                        "pitch": -0.470244824886322,
                        "yaw": 9.492254257202148
                    }
                },
                "velocity": {
                    "x": 4.230668067932129,
                    "y": 0.7297200560569763,
                    "z": -0.026183394715189934
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001596316578797996,
                "transform": {
                    "location": {
                        "x": 973.8585815429688,
                        "y": 3584.43017578125,
                        "z": 370.4704284667969
                    },
                    "rotation": {
                        "roll": 0.0022117525804787874,
                        "pitch": 0.6571120023727417,
                        "yaw": -170.62466430664062
                    }
                },
                "velocity": {
                    "x": 9.953431435860693e-05,
                    "y": 1.709366188151762e-05,
                    "z": 0.001593118766322732
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6022778749465942,
                "transform": {
                    "location": {
                        "x": 932.08203125,
                        "y": 3618.96435546875,
                        "z": 370.8890686035156
                    },
                    "rotation": {
                        "roll": -0.0023193361703306437,
                        "pitch": 0.018742037937045097,
                        "yaw": -80.90569305419922
                    }
                },
                "velocity": {
                    "x": 0.2595161199569702,
                    "y": -1.5811208486557007,
                    "z": 0.0015664100646972656
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.026646137237549,
                "transform": {
                    "location": {
                        "x": 901.0421752929688,
                        "y": 3575.628662109375,
                        "z": 371.1432800292969
                    },
                    "rotation": {
                        "roll": -0.00033569708466529846,
                        "pitch": -0.3785700500011444,
                        "yaw": 9.235574722290039
                    }
                },
                "velocity": {
                    "x": 2.0013163089752197,
                    "y": 0.3190780580043793,
                    "z": -0.014722032472491264
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5625636577606201,
                "transform": {
                    "location": {
                        "x": 928.9751586914062,
                        "y": 3617.8046875,
                        "z": 370.8880920410156
                    },
                    "rotation": {
                        "roll": 0.002252127742394805,
                        "pitch": 0.19579419493675232,
                        "yaw": -80.6762466430664
                    }
                },
                "velocity": {
                    "x": 0.25158926844596863,
                    "y": -1.542175054550171,
                    "z": 0.001959295244887471
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003230318834539503,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005651084706187248,
                        "pitch": 0.6042736172676086,
                        "yaw": -170.23931884765625
                    }
                },
                "velocity": {
                    "x": 1.9868462914018892e-05,
                    "y": 2.5214626475644764e-06,
                    "z": 0.00032241042936220765
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.259934161789715e-05,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0003477043646853417,
                        "pitch": 0.03929407522082329,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 6.237183356461173e-07,
                    "y": -1.8351711617015098e-07,
                    "z": 6.259596557356417e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.1095581054688,
                        "y": 3457.491455078125,
                        "z": 370.57220458984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.9886474609375,
                        "y": 3441.41455078125,
                        "z": 370.4861755371094
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0013296199031174183,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 6.743477570125833e-05,
                        "pitch": 0.008626528084278107,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -1.1461330018391891e-07,
                    "y": -9.163457548311271e-08,
                    "z": 0.0013296199031174183
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.421568870544434,
                "transform": {
                    "location": {
                        "x": 938.2760009765625,
                        "y": 3559.826171875,
                        "z": 370.87347412109375
                    },
                    "rotation": {
                        "roll": 0.06937649101018906,
                        "pitch": 0.20488516986370087,
                        "yaw": -80.23301696777344
                    }
                },
                "velocity": {
                    "x": 1.9293797016143799,
                    "y": -11.257424354553223,
                    "z": -0.010303124785423279
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0017611171351745725,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -3.488914217086858e-06,
                    "y": 3.8216203392948955e-06,
                    "z": 0.0017611094517633319
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.827690958743915e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0002746552345342934,
                        "pitch": 0.5702388286590576,
                        "yaw": -170.8332977294922
                    }
                },
                "velocity": {
                    "x": 1.5541761968052015e-05,
                    "y": 2.0779967599082738e-05,
                    "z": -6.315364589681849e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.594482421875,
                        "y": 3473.119873046875,
                        "z": 370.6393127441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.4788818359375,
                        "y": 3457.00927734375,
                        "z": 370.5675354003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010541918454691768,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.000819115957710892,
                        "pitch": -0.03900037705898285,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.577183714602143e-05,
                    "y": -2.184380718972534e-05,
                    "z": -0.0010512382723391056
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009473084937781096,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 9.534585842629895e-05,
                        "pitch": -0.04412984848022461,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 3.3458927646279335e-06,
                    "y": 1.9227200027671643e-06,
                    "z": -0.0009473006357438862
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00039230185211636126,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 6.526533252326772e-05,
                        "pitch": -0.03805098310112953,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.409908448607894e-06,
                    "y": 8.181435759979649e-07,
                    "z": -0.00039223101339302957
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014682848704978824,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": 0.0002877401129808277,
                        "pitch": -0.04619939625263214,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.584170089103281e-05,
                    "y": -3.903700053342618e-05,
                    "z": 0.0014658051077276468
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.5226440429688,
                        "y": 3487.80517578125,
                        "z": 370.69683837890625
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.37164831161499,
                "transform": {
                    "location": {
                        "x": 944.0889892578125,
                        "y": 3502.749267578125,
                        "z": 370.7429504394531
                    },
                    "rotation": {
                        "roll": 0.001296167727559805,
                        "pitch": 0.1752353310585022,
                        "yaw": 99.71621704101562
                    }
                },
                "velocity": {
                    "x": -1.0827139616012573,
                    "y": 6.278955459594727,
                    "z": 0.018712682649493217
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00015428090409841388,
                "transform": {
                    "location": {
                        "x": 933.454833984375,
                        "y": 3547.91552734375,
                        "z": 370.8545227050781
                    },
                    "rotation": {
                        "roll": 0.0002695991424843669,
                        "pitch": 0.05463467910885811,
                        "yaw": 99.36700439453125
                    }
                },
                "velocity": {
                    "x": -3.534693314577453e-05,
                    "y": 2.6804682420333847e-05,
                    "z": -0.00014776569150853902
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002710836415644735,
                "transform": {
                    "location": {
                        "x": 931.8693237304688,
                        "y": 3557.75732421875,
                        "z": 370.8752136230469
                    },
                    "rotation": {
                        "roll": 0.0008375323959626257,
                        "pitch": 0.0637803003191948,
                        "yaw": 99.23101043701172
                    }
                },
                "velocity": {
                    "x": 3.996610757894814e-06,
                    "y": -1.074313149729278e-05,
                    "z": 0.00027084117755293846
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.948486328125,
                        "y": 3472.732666015625,
                        "z": 370.6354675292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.041312217712402,
                "transform": {
                    "location": {
                        "x": 941.2401123046875,
                        "y": 3520.01806640625,
                        "z": 370.7933044433594
                    },
                    "rotation": {
                        "roll": 0.0034920228645205498,
                        "pitch": 0.17050200700759888,
                        "yaw": 99.1944580078125
                    }
                },
                "velocity": {
                    "x": -1.2829362154006958,
                    "y": 7.9382805824279785,
                    "z": 0.02199236862361431
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.4757795333862305,
                "transform": {
                    "location": {
                        "x": 937.1000366210938,
                        "y": 3545.719970703125,
                        "z": 370.8541259765625
                    },
                    "rotation": {
                        "roll": 0.00020406863768585026,
                        "pitch": 0.04330339655280113,
                        "yaw": 99.14266967773438
                    }
                },
                "velocity": {
                    "x": -1.1879304647445679,
                    "y": 7.3807806968688965,
                    "z": 0.013245544396340847
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.103243827819824,
                "transform": {
                    "location": {
                        "x": 934.2218627929688,
                        "y": 3563.630859375,
                        "z": 370.8775939941406
                    },
                    "rotation": {
                        "roll": 0.026121294125914574,
                        "pitch": 0.03815343603491783,
                        "yaw": 99.01547241210938
                    }
                },
                "velocity": {
                    "x": -0.772197425365448,
                    "y": 5.044480323791504,
                    "z": 0.00511761661618948
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3295571506023407,
        "expert_target_speed": 0.0,
        "target_point": [
            21.269272510738595,
            0.4416482513146831
        ],
        "target_point_next": [
            39.26888171948235,
            0.5461142005936175
        ]
    },
    "530": {
        "acceleration": [
            -0.09603157639503479,
            0.6959110498428345,
            -0.0011905678547918797
        ],
        "angular_velocity": [
            0.14093270897865295,
            0.034894101321697235,
            -1.7533785104751587
        ],
        "forward_vector": [
            -0.1523444652557373,
            0.9883253574371338,
            0.002000330248847604
        ],
        "right_vector": [
            -0.9883273839950562,
            -0.15234477818012238,
            -1.1494848877191544e-06
        ],
        "location": [
            930.8167114257812,
            3566.9501953125,
            370.8756408691406
        ],
        "rotation": [
            6.586076051462442e-05,
            0.11461056768894196,
            98.76283264160156
        ],
        "velocity": [
            -0.0556095652282238,
            0.3612167537212372,
            0.0014159488491714
        ],
        "speed": 0.3654722519067364,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.644432067871094,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                1.0129180338935839e-07,
                4.072840965818614e-06,
                -0.001013559172861278
            ],
            "speed_kmh": 0.0036488424994229355,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2995285987854,
                "transform": {
                    "location": {
                        "x": 883.3324584960938,
                        "y": 3572.71337890625,
                        "z": 371.2777404785156
                    },
                    "rotation": {
                        "roll": -0.0005188005743548274,
                        "pitch": -0.45580580830574036,
                        "yaw": 9.62282943725586
                    }
                },
                "velocity": {
                    "x": 5.222224235534668,
                    "y": 0.9013712406158447,
                    "z": -0.030108070001006126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009501175954937935,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703369140625
                    },
                    "rotation": {
                        "roll": 0.002591905416920781,
                        "pitch": 0.6671181917190552,
                        "yaw": -170.62466430664062
                    }
                },
                "velocity": {
                    "x": 3.973573257098906e-05,
                    "y": 5.967356173641747e-07,
                    "z": 0.0009492860990576446
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3186795711517334,
                "transform": {
                    "location": {
                        "x": 932.1697387695312,
                        "y": 3618.42236328125,
                        "z": 370.88665771484375
                    },
                    "rotation": {
                        "roll": -0.0009155162842944264,
                        "pitch": 0.35451412200927734,
                        "yaw": -80.85801696777344
                    }
                },
                "velocity": {
                    "x": 0.3718163073062897,
                    "y": -2.288672924041748,
                    "z": 0.0018664359813556075
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9540235996246338,
                "transform": {
                    "location": {
                        "x": 901.4595336914062,
                        "y": 3575.6943359375,
                        "z": 371.1402587890625
                    },
                    "rotation": {
                        "roll": -0.0027771026361733675,
                        "pitch": -0.3788432478904724,
                        "yaw": 9.379572868347168
                    }
                },
                "velocity": {
                    "x": 1.928805947303772,
                    "y": 0.3126102685928345,
                    "z": -0.013821210712194443
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2756242752075195,
                "transform": {
                    "location": {
                        "x": 929.0630493164062,
                        "y": 3617.26611328125,
                        "z": 370.8875427246094
                    },
                    "rotation": {
                        "roll": 0.0006337359081953764,
                        "pitch": 0.3072696924209595,
                        "yaw": -80.68321228027344
                    }
                },
                "velocity": {
                    "x": 0.3663967549800873,
                    "y": -2.2459330558776855,
                    "z": 0.0018839549738913774
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00023427327687386423,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005651084706187248,
                        "pitch": 0.6042736172676086,
                        "yaw": -170.23931884765625
                    }
                },
                "velocity": {
                    "x": 2.0890160158160143e-05,
                    "y": -3.839209512079833e-06,
                    "z": 0.00023330844123847783
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002521567512303591,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0005333251319825649,
                        "pitch": 0.03908234089612961,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 8.932233299674408e-07,
                    "y": -5.248696652415674e-06,
                    "z": 0.0002521005517337471
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.778564453125,
                        "y": 3459.548095703125,
                        "z": 370.5816650390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.6784057617188,
                        "y": 3443.342041015625,
                        "z": 370.4971923828125
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0007666996098123491,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 6.743477570125833e-05,
                        "pitch": 0.008626528084278107,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -9.840733582677785e-06,
                    "y": 9.19555895961821e-06,
                    "z": 0.0007665813318453729
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.45807933807373,
                "transform": {
                    "location": {
                        "x": 938.7752685546875,
                        "y": 3556.876708984375,
                        "z": 370.8703308105469
                    },
                    "rotation": {
                        "roll": 0.04944861680269241,
                        "pitch": 0.16466902196407318,
                        "yaw": -80.48435974121094
                    }
                },
                "velocity": {
                    "x": 2.0493431091308594,
                    "y": -12.288357734680176,
                    "z": -0.013456945307552814
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0010208592284470797,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 1.2042044545523822e-05,
                    "y": 1.1296049706288613e-05,
                    "z": 0.0010207257000729442
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2419635570258833e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0001525895786471665,
                        "pitch": 0.5702797770500183,
                        "yaw": -170.83323669433594
                    }
                },
                "velocity": {
                    "x": 1.491814782639267e-05,
                    "y": 1.3034604307904374e-05,
                    "z": -1.0497048606339376e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.2634887695312,
                        "y": 3475.17626953125,
                        "z": 370.64801025390625
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1688232421875,
                        "y": 3458.936767578125,
                        "z": 370.5766296386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004793213156517595,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0010572304017841816,
                        "pitch": -0.03902769833803177,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.8851789718610235e-05,
                    "y": 6.217641930561513e-05,
                    "z": -0.0004748975043185055
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.474673086311668e-05,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 9.534585842629895e-05,
                        "pitch": -0.04412984848022461,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 8.340377462445758e-06,
                    "y": -3.2502225622010883e-07,
                    "z": -8.433469338342547e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001013567321933806,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 5.954238440608606e-05,
                        "pitch": -0.03793486952781677,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.0129180338935839e-07,
                    "y": 4.072840965818614e-06,
                    "z": -0.001013559172861278
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012569429818540812,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -3.051908061024733e-05,
                        "pitch": -0.04610377550125122,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -8.276355947600678e-05,
                    "y": -6.402125563909067e-06,
                    "z": 0.0012541989563032985
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.2625732421875,
                        "y": 3489.422119140625,
                        "z": 370.7029724121094
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.7019805908203125,
                "transform": {
                    "location": {
                        "x": 943.8187255859375,
                        "y": 3504.318603515625,
                        "z": 370.7477722167969
                    },
                    "rotation": {
                        "roll": 0.0027341493405401707,
                        "pitch": 0.17464110255241394,
                        "yaw": 99.77112579345703
                    }
                },
                "velocity": {
                    "x": -1.1270793676376343,
                    "y": 6.60650110244751,
                    "z": 0.019402112811803818
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00047852718853391707,
                "transform": {
                    "location": {
                        "x": 933.454833984375,
                        "y": 3547.915771484375,
                        "z": 370.8543395996094
                    },
                    "rotation": {
                        "roll": 0.0004803615156561136,
                        "pitch": 0.07894331961870193,
                        "yaw": 99.36698913574219
                    }
                },
                "velocity": {
                    "x": 5.481630432768725e-05,
                    "y": -1.9221686670789495e-05,
                    "z": 0.0004749883955810219
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.21787065267562866,
                "transform": {
                    "location": {
                        "x": 931.8671875,
                        "y": 3557.771728515625,
                        "z": 370.8753356933594
                    },
                    "rotation": {
                        "roll": -3.051908061024733e-05,
                        "pitch": 0.04930030182003975,
                        "yaw": 99.2457504272461
                    }
                },
                "velocity": {
                    "x": -0.03381577506661415,
                    "y": 0.21522504091262817,
                    "z": 0.0015165996737778187
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.6795043945312,
                        "y": 3474.404541015625,
                        "z": 370.64251708984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.999273777008057,
                "transform": {
                    "location": {
                        "x": 940.921142578125,
                        "y": 3521.993896484375,
                        "z": 370.798828125
                    },
                    "rotation": {
                        "roll": 0.004373063333332539,
                        "pitch": 0.14902788400650024,
                        "yaw": 99.15245056152344
                    }
                },
                "velocity": {
                    "x": -1.272633671760559,
                    "y": 7.897361755371094,
                    "z": 0.021406402811408043
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.25675106048584,
                "transform": {
                    "location": {
                        "x": 936.8077392578125,
                        "y": 3547.5361328125,
                        "z": 370.8570861816406
                    },
                    "rotation": {
                        "roll": -6.103650230215862e-05,
                        "pitch": 0.055536266416311264,
                        "yaw": 99.14117431640625
                    }
                },
                "velocity": {
                    "x": -1.1528446674346924,
                    "y": 7.164581775665283,
                    "z": 0.012299575842916965
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0049339355900883675,
                "transform": {
                    "location": {
                        "x": 934.146240234375,
                        "y": 3564.12548828125,
                        "z": 370.8775329589844
                    },
                    "rotation": {
                        "roll": -0.0032959263771772385,
                        "pitch": -0.7472158074378967,
                        "yaw": 98.88410949707031
                    }
                },
                "velocity": {
                    "x": 0.0007939667557366192,
                    "y": -0.004636062309145927,
                    "z": 0.0014900544192641973
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.32824572920799255,
        "expert_target_speed": 0.0,
        "target_point": [
            21.19749439307837,
            0.4590744317146691
        ],
        "target_point_next": [
            39.197011357380354,
            0.5783801476578274
        ]
    },
    "535": {
        "acceleration": [
            0.10438859462738037,
            -0.7595169544219971,
            -0.009348487481474876
        ],
        "angular_velocity": [
            -0.2929529845714569,
            0.006810175254940987,
            0.30943071842193604
        ],
        "forward_vector": [
            -0.15293829143047333,
            0.9882339239120483,
            0.0018948303768411279
        ],
        "right_vector": [
            -0.9882357120513916,
            -0.15293850004673004,
            -3.14814351440873e-05
        ],
        "location": [
            930.8011474609375,
            3567.0556640625,
            370.8757629394531
        ],
        "rotation": [
            0.0018037565751001239,
            0.10856585204601288,
            98.79725646972656
        ],
        "velocity": [
            -0.06347924470901489,
            0.43158793449401855,
            0.0015715217450633645
        ],
        "speed": 0.43623131445328434,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.537841796875,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -3.335142366722721e-07,
                -1.8817326008502278e-06,
                -0.0006060773157514632
            ],
            "speed_kmh": 0.002181889183262758,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.642711639404297,
                "transform": {
                    "location": {
                        "x": 884.6686401367188,
                        "y": 3572.943359375,
                        "z": 371.26898193359375
                    },
                    "rotation": {
                        "roll": -0.0025329566560685635,
                        "pitch": -0.4063689112663269,
                        "yaw": 9.693352699279785
                    }
                },
                "velocity": {
                    "x": 5.560436725616455,
                    "y": 0.9594624638557434,
                    "z": -0.0341985747218132
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00015740119852125645,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0018602594500407577,
                        "pitch": 0.6694609522819519,
                        "yaw": -170.6245880126953
                    }
                },
                "velocity": {
                    "x": 1.967757816601079e-05,
                    "y": 1.0790228770929389e-05,
                    "z": 0.00015579313912894577
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7088878154754639,
                "transform": {
                    "location": {
                        "x": 932.1935424804688,
                        "y": 3618.2734375,
                        "z": 370.8920593261719
                    },
                    "rotation": {
                        "roll": 0.0006859232671558857,
                        "pitch": -0.30273446440696716,
                        "yaw": -80.82304382324219
                    }
                },
                "velocity": {
                    "x": 0.11534678190946579,
                    "y": -0.6994383335113525,
                    "z": 0.0017621039878576994
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9109609127044678,
                "transform": {
                    "location": {
                        "x": 901.843017578125,
                        "y": 3575.759521484375,
                        "z": 371.13812255859375
                    },
                    "rotation": {
                        "roll": 0.0011417812202125788,
                        "pitch": -0.4942939281463623,
                        "yaw": 9.043249130249023
                    }
                },
                "velocity": {
                    "x": 0.8991718888282776,
                    "y": 0.1458393931388855,
                    "z": -0.008400878868997097
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6312782764434814,
                "transform": {
                    "location": {
                        "x": 929.0859375,
                        "y": 3617.128662109375,
                        "z": 370.8927307128906
                    },
                    "rotation": {
                        "roll": -0.001098625478334725,
                        "pitch": -0.3367624580860138,
                        "yaw": -80.71806335449219
                    }
                },
                "velocity": {
                    "x": 0.10300204157829285,
                    "y": -0.6228157877922058,
                    "z": 0.0018228244734928012
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002462224802002311,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005651084706187248,
                        "pitch": 0.6042736172676086,
                        "yaw": -170.23931884765625
                    }
                },
                "velocity": {
                    "x": 2.5120227292063646e-05,
                    "y": -2.007667899306398e-05,
                    "z": 0.00024411351478192955
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5546936740283854e-05,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0005333251319825649,
                        "pitch": 0.03908234089612961,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -9.562323612044565e-06,
                    "y": -1.7958506077775382e-06,
                    "z": -2.3621660147910006e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.4476318359375,
                        "y": 3461.604248046875,
                        "z": 370.5906677246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.4009399414062,
                        "y": 3445.06689453125,
                        "z": 370.50689697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0017891168827190995,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 6.743477570125833e-05,
                        "pitch": 0.008626528084278107,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 3.6283744897502856e-09,
                    "y": 1.4175870092003606e-05,
                    "z": 0.0017890606541186571
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.410181999206543,
                "transform": {
                    "location": {
                        "x": 939.303955078125,
                        "y": 3553.677001953125,
                        "z": 370.8666076660156
                    },
                    "rotation": {
                        "roll": 0.032321128994226456,
                        "pitch": 0.14458826184272766,
                        "yaw": -80.69072723388672
                    }
                },
                "velocity": {
                    "x": 2.170743703842163,
                    "y": -13.233317375183105,
                    "z": -0.01303898822516203
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001691958459559828,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -8.391300980292726e-06,
                    "y": -7.533180450991495e-06,
                    "z": 0.00016881963529158384
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002659927704371512,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0006408722256310284,
                        "pitch": 0.5704027414321899,
                        "yaw": -170.83323669433594
                    }
                },
                "velocity": {
                    "x": 1.933448038471397e-05,
                    "y": 2.944786047009984e-06,
                    "z": 0.0002652727998793125
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.9325561523438,
                        "y": 3477.232666015625,
                        "z": 370.6565856933594
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8948974609375,
                        "y": 3460.638916015625,
                        "z": 370.58416748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011504953727126122,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0007616078946739435,
                        "pitch": -0.03908916935324669,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.8012680559186265e-05,
                    "y": 2.740443596849218e-05,
                    "z": -0.0011498278472572565
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010435503209009767,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -9.155390580417588e-05,
                        "pitch": -0.04425279423594475,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 7.2738002927508205e-06,
                    "y": 5.269795337881078e-07,
                    "z": -0.0010435248259454966
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006060802843421698,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0002224330819444731,
                        "pitch": -0.03798950836062431,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -3.335142366722721e-07,
                    "y": -1.8817326008502278e-06,
                    "z": -0.0006060773157514632
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013795256381854415,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": 4.7562873078277335e-05,
                        "pitch": -0.04601498320698738,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -4.674468073062599e-05,
                    "y": 3.03587567032082e-05,
                    "z": 0.001378399203531444
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.9749755859375,
                        "y": 3491.208740234375,
                        "z": 370.70941162109375
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.123316764831543,
                "transform": {
                    "location": {
                        "x": 943.509521484375,
                        "y": 3506.1455078125,
                        "z": 370.7530517578125
                    },
                    "rotation": {
                        "roll": 0.0027124546468257904,
                        "pitch": 0.19612203538417816,
                        "yaw": 99.59955596923828
                    }
                },
                "velocity": {
                    "x": -1.340760588645935,
                    "y": 8.011876106262207,
                    "z": 0.02211611717939377
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003633445012383163,
                "transform": {
                    "location": {
                        "x": 933.454833984375,
                        "y": 3547.915771484375,
                        "z": 370.854248046875
                    },
                    "rotation": {
                        "roll": 0.0005031501059420407,
                        "pitch": 0.08881977200508118,
                        "yaw": 99.36697387695312
                    }
                },
                "velocity": {
                    "x": 5.0614456995390356e-05,
                    "y": -3.714766307894024e-07,
                    "z": 0.0003598016919568181
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13443632423877716,
                "transform": {
                    "location": {
                        "x": 931.8535766601562,
                        "y": 3557.860595703125,
                        "z": 370.87518310546875
                    },
                    "rotation": {
                        "roll": 0.000866460963152349,
                        "pitch": 0.08000883460044861,
                        "yaw": 99.30094909667969
                    }
                },
                "velocity": {
                    "x": -0.02144266851246357,
                    "y": 0.13270778954029083,
                    "z": 0.001406764960847795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.4016723632812,
                        "y": 3476.130126953125,
                        "z": 370.6497497558594
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.045720100402832,
                "transform": {
                    "location": {
                        "x": 940.6018676757812,
                        "y": 3523.974853515625,
                        "z": 370.80401611328125
                    },
                    "rotation": {
                        "roll": 0.0020899258088320494,
                        "pitch": 0.15932781994342804,
                        "yaw": 99.17267608642578
                    }
                },
                "velocity": {
                    "x": -1.2806432247161865,
                    "y": 7.943116664886475,
                    "z": 0.02138080634176731
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.900113105773926,
                "transform": {
                    "location": {
                        "x": 936.5249633789062,
                        "y": 3549.293701171875,
                        "z": 370.8598327636719
                    },
                    "rotation": {
                        "roll": 1.6675270053667646e-09,
                        "pitch": 0.037108413875103,
                        "yaw": 99.1366195678711
                    }
                },
                "velocity": {
                    "x": -1.0957280397415161,
                    "y": 6.812551498413086,
                    "z": 0.009200982749462128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.004895217716693878,
                "transform": {
                    "location": {
                        "x": 934.1456909179688,
                        "y": 3564.12939453125,
                        "z": 370.8777770996094
                    },
                    "rotation": {
                        "roll": -0.0021362381521612406,
                        "pitch": -0.1749279648065567,
                        "yaw": 98.88389587402344
                    }
                },
                "velocity": {
                    "x": 0.0008467937004752457,
                    "y": -0.004438933450728655,
                    "z": 0.0018820110708475113
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.32791978120803833,
        "expert_target_speed": 0.0,
        "target_point": [
            21.091158071640116,
            0.447087958260429
        ],
        "target_point_next": [
            39.090743467861216,
            0.5555792767877765
        ]
    },
    "540": {
        "acceleration": [
            0.1898038387298584,
            -1.1286205053329468,
            0.005367661360651255
        ],
        "angular_velocity": [
            -0.4115608036518097,
            -0.0839245542883873,
            0.5700010061264038
        ],
        "forward_vector": [
            -0.15305115282535553,
            0.9882172346115112,
            0.001420497428625822
        ],
        "right_vector": [
            -0.9882182478904724,
            -0.15305130183696747,
            -4.965753760188818e-06
        ],
        "location": [
            930.7823486328125,
            3567.179931640625,
            370.8759765625
        ],
        "rotation": [
            0.0002845170092768967,
            0.08138853311538696,
            98.80379486083984
        ],
        "velocity": [
            -0.06784480065107346,
            0.4548551142215729,
            0.0016704750014469028
        ],
        "speed": 0.4598870425538254,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.41217041015625,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -1.9685900042532012e-05,
                -3.0325400075525977e-06,
                -0.00046636993647553027
            ],
            "speed_kmh": 0.001680462295308685,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.942307472229004,
                "transform": {
                    "location": {
                        "x": 886.1702270507812,
                        "y": 3573.1962890625,
                        "z": 371.25982666015625
                    },
                    "rotation": {
                        "roll": -0.006011964287608862,
                        "pitch": -0.4646919071674347,
                        "yaw": 9.537148475646973
                    }
                },
                "velocity": {
                    "x": 6.847390174865723,
                    "y": 1.1431797742843628,
                    "z": -0.04498359560966492
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006862377049401402,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0018341477261856198,
                        "pitch": 0.6695156097412109,
                        "yaw": -170.6245574951172
                    }
                },
                "velocity": {
                    "x": 2.9466524210874923e-05,
                    "y": -1.534499278932344e-05,
                    "z": 0.0006854330422356725
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7946079969406128,
                "transform": {
                    "location": {
                        "x": 932.2445068359375,
                        "y": 3617.96044921875,
                        "z": 370.8881530761719
                    },
                    "rotation": {
                        "roll": 0.00025716781965456903,
                        "pitch": 0.2186821550130844,
                        "yaw": -80.82664489746094
                    }
                },
                "velocity": {
                    "x": 0.287813663482666,
                    "y": -1.7713770866394043,
                    "z": 0.0020485685672611
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.03987717628479,
                "transform": {
                    "location": {
                        "x": 902.2322387695312,
                        "y": 3575.81982421875,
                        "z": 371.1350402832031
                    },
                    "rotation": {
                        "roll": 0.0007414371939375997,
                        "pitch": -0.43642857670783997,
                        "yaw": 9.228294372558594
                    }
                },
                "velocity": {
                    "x": 1.0280836820602417,
                    "y": 0.15562473237514496,
                    "z": -0.013018054887652397
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9687508344650269,
                "transform": {
                    "location": {
                        "x": 929.137939453125,
                        "y": 3616.8095703125,
                        "z": 370.8883361816406
                    },
                    "rotation": {
                        "roll": 0.002030746079981327,
                        "pitch": 0.24777193367481232,
                        "yaw": -80.73544311523438
                    }
                },
                "velocity": {
                    "x": 0.3174416720867157,
                    "y": -1.9429893493652344,
                    "z": 0.0017132186330854893
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003957011504098773,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005557291675359011,
                        "pitch": 0.6044785380363464,
                        "yaw": -170.2391815185547
                    }
                },
                "velocity": {
                    "x": 2.0067318473593332e-05,
                    "y": 1.0000849215430208e-05,
                    "z": 0.00039506543544121087
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.314950148109347e-05,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0005333251319825649,
                        "pitch": 0.03908234089612961,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -2.107267027895432e-05,
                    "y": 4.364335836726241e-06,
                    "z": 9.062959725270048e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.1167602539062,
                        "y": 3463.66064453125,
                        "z": 370.59954833984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.0912475585938,
                        "y": 3446.990966796875,
                        "z": 370.5172119140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009268201538361609,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 6.743477570125833e-05,
                        "pitch": 0.008626528084278107,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -4.707486368715763e-06,
                    "y": 1.0205199885149341e-07,
                    "z": 0.0009268082212656736
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.543417930603027,
                "transform": {
                    "location": {
                        "x": 939.8490600585938,
                        "y": 3550.333251953125,
                        "z": 370.8623352050781
                    },
                    "rotation": {
                        "roll": 0.02074214071035385,
                        "pitch": -0.004945056512951851,
                        "yaw": -80.78768157958984
                    }
                },
                "velocity": {
                    "x": 2.1689391136169434,
                    "y": -13.368602752685547,
                    "z": -0.017863787710666656
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0011719700414687395,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -1.835526177274005e-06,
                    "y": 1.2772786703862948e-06,
                    "z": 0.0011719679459929466
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00012004937161691487,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.00018310348968952894,
                        "pitch": 0.5702797770500183,
                        "yaw": -170.8332061767578
                    }
                },
                "velocity": {
                    "x": 1.699104905128479e-05,
                    "y": 1.1246818758081645e-05,
                    "z": -0.00011830750008812174
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.6015625,
                        "y": 3479.2890625,
                        "z": 370.6651611328125
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.576171875,
                        "y": 3462.61865234375,
                        "z": 370.5928039550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00018228420231025666,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0012670804280787706,
                        "pitch": -0.03878864273428917,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -4.449178231880069e-05,
                    "y": 2.5265588192269206e-05,
                    "z": -0.0001749561633914709
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000542124267667532,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 1.984357140827342e-06,
                        "pitch": -0.04391128197312355,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 4.667206496833387e-07,
                    "y": 1.1895224361069268e-06,
                    "z": -0.0005421228124760091
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004667950561270118,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 1.2491444977058563e-05,
                        "pitch": -0.03798950836062431,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.9685900042532012e-05,
                    "y": -3.0325400075525977e-06,
                    "z": -0.00046636993647553027
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013132772874087095,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.00033569656079635024,
                        "pitch": -0.04613792523741722,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.1078216175519628e-06,
                    "y": -4.616384103428572e-06,
                    "z": 0.0013132686726748943
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.6460571289062,
                        "y": 3493.252685546875,
                        "z": 370.7168273925781
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.086310386657715,
                "transform": {
                    "location": {
                        "x": 943.166015625,
                        "y": 3508.1982421875,
                        "z": 370.7591857910156
                    },
                    "rotation": {
                        "roll": 0.0013841466279700398,
                        "pitch": 0.17279011011123657,
                        "yaw": 99.4665298461914
                    }
                },
                "velocity": {
                    "x": -1.3269649744033813,
                    "y": 7.976651668548584,
                    "z": 0.024711884558200836
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009098610025830567,
                "transform": {
                    "location": {
                        "x": 933.454833984375,
                        "y": 3547.915771484375,
                        "z": 370.8542175292969
                    },
                    "rotation": {
                        "roll": 0.0003607431426644325,
                        "pitch": 0.08997407555580139,
                        "yaw": 99.36697387695312
                    }
                },
                "velocity": {
                    "x": -0.00017453845066484064,
                    "y": -3.706924690050073e-05,
                    "z": 0.0008921935223042965
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1360379159450531,
                "transform": {
                    "location": {
                        "x": 931.8377685546875,
                        "y": 3557.963134765625,
                        "z": 370.8752136230469
                    },
                    "rotation": {
                        "roll": 0.0013422606280073524,
                        "pitch": 0.09278128296136856,
                        "yaw": 99.36286926269531
                    }
                },
                "velocity": {
                    "x": -0.02157123200595379,
                    "y": 0.1343146413564682,
                    "z": 0.0007568454602733254
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.0767822265625,
                        "y": 3478.1494140625,
                        "z": 370.65826416015625
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.021109580993652,
                "transform": {
                    "location": {
                        "x": 940.2821655273438,
                        "y": 3525.958251953125,
                        "z": 370.80914306640625
                    },
                    "rotation": {
                        "roll": 0.002204777440056205,
                        "pitch": 0.14557181298732758,
                        "yaw": 99.1382064819336
                    }
                },
                "velocity": {
                    "x": -1.27446448802948,
                    "y": 7.919185161590576,
                    "z": 0.02122587151825428
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.697270631790161,
                "transform": {
                    "location": {
                        "x": 936.31005859375,
                        "y": 3550.630126953125,
                        "z": 370.86077880859375
                    },
                    "rotation": {
                        "roll": -0.00039673675200901926,
                        "pitch": -0.44851118326187134,
                        "yaw": 99.12904357910156
                    }
                },
                "velocity": {
                    "x": -0.42838478088378906,
                    "y": 2.663034677505493,
                    "z": 0.0012754725757986307
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001451533637009561,
                "transform": {
                    "location": {
                        "x": 934.1455078125,
                        "y": 3564.130126953125,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": -0.0006103513878770173,
                        "pitch": 0.003367283148691058,
                        "yaw": 98.88385009765625
                    }
                },
                "velocity": {
                    "x": 3.0340588637045585e-05,
                    "y": -0.0009839548729360104,
                    "z": 0.0010667062597349286
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.33343181014060974,
        "expert_target_speed": 0.0,
        "target_point": [
            20.965528319698723,
            0.44512128193637723
        ],
        "target_point_next": [
            38.96512598852234,
            0.5515570021204841
        ]
    },
    "545": {
        "acceleration": [
            -0.08860491216182709,
            0.6031572818756104,
            0.00016899080947041512
        ],
        "angular_velocity": [
            0.06368140131235123,
            -0.010421388782560825,
            -0.7179820537567139
        ],
        "forward_vector": [
            -0.15257343649864197,
            0.9882919788360596,
            0.0006428955821320415
        ],
        "right_vector": [
            -0.9882921576499939,
            -0.15257346630096436,
            -9.947775652108248e-06
        ],
        "location": [
            930.766357421875,
            3567.287353515625,
            370.8762512207031
        ],
        "rotation": [
            0.0005699656903743744,
            0.0368352085351944,
            98.77609252929688
        ],
        "velocity": [
            -0.060128238052129745,
            0.4085752069950104,
            0.001461029052734375
        ],
        "speed": 0.41297591307758996,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.303585052490234,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                9.348918865725864e-06,
                2.7970595510851126e-06,
                -0.0011319865006953478
            ],
            "speed_kmh": 0.004075302820653988,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.660160064697266,
                "transform": {
                    "location": {
                        "x": 888.0263671875,
                        "y": 3573.505859375,
                        "z": 371.2478942871094
                    },
                    "rotation": {
                        "roll": -0.0028686511795967817,
                        "pitch": -0.4667068123817444,
                        "yaw": 9.483709335327148
                    }
                },
                "velocity": {
                    "x": 7.556005477905273,
                    "y": 1.257957935333252,
                    "z": -0.0487230084836483
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003402097208891064,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.001676135347224772,
                        "pitch": 0.6694199442863464,
                        "yaw": -170.6245574951172
                    }
                },
                "velocity": {
                    "x": 2.6331767003284767e-05,
                    "y": 4.45155410488951e-06,
                    "z": 0.000339159945724532
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.616905152797699,
                "transform": {
                    "location": {
                        "x": 932.3215942382812,
                        "y": 3617.484375,
                        "z": 370.8892822265625
                    },
                    "rotation": {
                        "roll": 9.370181942358613e-05,
                        "pitch": 0.10810822993516922,
                        "yaw": -80.79762268066406
                    }
                },
                "velocity": {
                    "x": 0.09678862988948822,
                    "y": -0.6092641353607178,
                    "z": 0.001052045845426619
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4919557273387909,
                "transform": {
                    "location": {
                        "x": 902.5723876953125,
                        "y": 3575.8740234375,
                        "z": 371.1326599121094
                    },
                    "rotation": {
                        "roll": -0.0008544902666471899,
                        "pitch": -0.47704771161079407,
                        "yaw": 9.250908851623535
                    }
                },
                "velocity": {
                    "x": 0.48557546734809875,
                    "y": 0.07869400084018707,
                    "z": -0.006644315551966429
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0104812728241086,
                "transform": {
                    "location": {
                        "x": 929.20068359375,
                        "y": 3616.4091796875,
                        "z": 370.8912048339844
                    },
                    "rotation": {
                        "roll": -0.006744385231286287,
                        "pitch": -0.08612184971570969,
                        "yaw": -80.49524688720703
                    }
                },
                "velocity": {
                    "x": 0.0004197255475446582,
                    "y": -0.010377829894423485,
                    "z": 0.0014076769584789872
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00012869252532254905,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005557291675359011,
                        "pitch": 0.6044785380363464,
                        "yaw": -170.2391815185547
                    }
                },
                "velocity": {
                    "x": 1.7310454495600425e-05,
                    "y": 3.4358538414380746e-06,
                    "z": 0.00012747669825330377
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00017086484876926988,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0005333251319825649,
                        "pitch": 0.03908234089612961,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 1.4510013897961471e-05,
                    "y": 4.246174285071902e-06,
                    "z": 0.00017019467486534268
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7857666015625,
                        "y": 3465.717041015625,
                        "z": 370.6082458496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.7654418945312,
                        "y": 3449.015625,
                        "z": 370.5281066894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00023817512555979192,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 6.743477570125833e-05,
                        "pitch": 0.008626528084278107,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 3.3856601930892793e-06,
                    "y": -1.164919558505062e-05,
                    "z": 0.00023786597012076527
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.367034912109375,
                "transform": {
                    "location": {
                        "x": 940.3856201171875,
                        "y": 3547.01806640625,
                        "z": 370.8572082519531
                    },
                    "rotation": {
                        "roll": 0.010578041896224022,
                        "pitch": -0.10204984992742538,
                        "yaw": -80.82611846923828
                    }
                },
                "velocity": {
                    "x": 2.1304969787597656,
                    "y": -13.196142196655273,
                    "z": -0.021047605201601982
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005618370487354696,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 4.462259767024079e-06,
                    "y": 3.2553937217016937e-06,
                    "z": 0.0005618099239654839
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.69131215242669e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0003356963861733675,
                        "pitch": 0.5701500177383423,
                        "yaw": -170.8332061767578
                    }
                },
                "velocity": {
                    "x": 1.7618238416616805e-05,
                    "y": -6.92434605298331e-06,
                    "z": -9.504632907919586e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.2706298828125,
                        "y": 3481.34521484375,
                        "z": 370.6735534667969
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.2542724609375,
                        "y": 3464.61865234375,
                        "z": 370.6014099121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.001098006498068571,
                        "pitch": -0.03893890604376793,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.4908058296423405e-05,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 1.984357140827342e-06,
                        "pitch": -0.04391128197312355,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.626018572182147e-08,
                    "y": 1.5340000345531735e-06,
                    "z": -3.487425419734791e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011320286430418491,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0001518233329989016,
                        "pitch": -0.03802366182208061,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 9.348918865725864e-06,
                    "y": 2.7970595510851126e-06,
                    "z": -0.0011319865006953478
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013136179186403751,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": 0.00034936692100018263,
                        "pitch": -0.04639064148068428,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 5.423488346423255e-06,
                    "y": -3.457898174019647e-06,
                    "z": 0.0013136022025719285
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.3321533203125,
                        "y": 3495.203369140625,
                        "z": 370.72357177734375
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.884900093078613,
                "transform": {
                    "location": {
                        "x": 942.8439331054688,
                        "y": 3510.140869140625,
                        "z": 370.76507568359375
                    },
                    "rotation": {
                        "roll": 0.0027829858008772135,
                        "pitch": 0.15871310234069824,
                        "yaw": 99.38020324707031
                    }
                },
                "velocity": {
                    "x": -1.2776093482971191,
                    "y": 7.780675411224365,
                    "z": 0.021305760368704796
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005442127003334463,
                "transform": {
                    "location": {
                        "x": 933.454833984375,
                        "y": 3547.915771484375,
                        "z": 370.8542175292969
                    },
                    "rotation": {
                        "roll": 0.0008939788094721735,
                        "pitch": 0.09142890572547913,
                        "yaw": 99.36699676513672
                    }
                },
                "velocity": {
                    "x": -3.0037015221751062e-06,
                    "y": -6.291801128099905e-06,
                    "z": 0.0005441680550575256
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.26546865701675415,
                "transform": {
                    "location": {
                        "x": 931.8117065429688,
                        "y": 3558.122802734375,
                        "z": 370.8758544921875
                    },
                    "rotation": {
                        "roll": -0.0003051740932278335,
                        "pitch": 0.03444464132189751,
                        "yaw": 99.33436584472656
                    }
                },
                "velocity": {
                    "x": -0.04257570207118988,
                    "y": 0.26202937960624695,
                    "z": 0.0012325287098065019
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.7589111328125,
                        "y": 3480.125,
                        "z": 370.66644287109375
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022697448730469,
                "transform": {
                    "location": {
                        "x": 939.9635620117188,
                        "y": 3527.93701171875,
                        "z": 370.8141174316406
                    },
                    "rotation": {
                        "roll": 0.0006490234518423676,
                        "pitch": 0.14588600397109985,
                        "yaw": 99.16371154785156
                    }
                },
                "velocity": {
                    "x": -1.2756774425506592,
                    "y": 7.920597553253174,
                    "z": 0.021190548315644264
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7361074090003967,
                "transform": {
                    "location": {
                        "x": 936.2838134765625,
                        "y": 3550.7919921875,
                        "z": 370.8612365722656
                    },
                    "rotation": {
                        "roll": 0.00039926485624164343,
                        "pitch": -0.30414149165153503,
                        "yaw": 99.14717864990234
                    }
                },
                "velocity": {
                    "x": -0.1161130890250206,
                    "y": 0.7268891930580139,
                    "z": 0.001994933933019638
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00027299762587063015,
                "transform": {
                    "location": {
                        "x": 934.1455078125,
                        "y": 3564.130615234375,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": -0.0007019054028205574,
                        "pitch": 0.0369376614689827,
                        "yaw": 98.88386535644531
                    }
                },
                "velocity": {
                    "x": 4.575340062729083e-05,
                    "y": -0.0002536755637265742,
                    "z": 8.990569767775014e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.33752480149269104,
        "expert_target_speed": 0.0,
        "target_point": [
            20.856706727592332,
            0.4558391170407785
        ],
        "target_point_next": [
            38.85625085681197,
            0.5709735702977428
        ]
    },
    "550": {
        "acceleration": [
            0.21859146654605865,
            -1.4862310886383057,
            -0.0031791673973202705
        ],
        "angular_velocity": [
            -0.2520226538181305,
            -0.03308843821287155,
            0.5548480153083801
        ],
        "forward_vector": [
            -0.15222448110580444,
            0.9883458614349365,
            0.00028502941131591797
        ],
        "right_vector": [
            -0.9883459210395813,
            -0.15222449600696564,
            -1.2155359172538738e-06
        ],
        "location": [
            930.7540283203125,
            3567.37109375,
            370.87640380859375
        ],
        "rotation": [
            6.964508793316782e-05,
            0.016330981627106667,
            98.755859375
        ],
        "velocity": [
            -0.03788024187088013,
            0.25946083664894104,
            0.001501808175817132
        ],
        "speed": 0.2622114384971885,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.218955993652344,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -5.1993579290865455e-06,
                1.225480730226991e-07,
                -0.00038211754872463644
            ],
            "speed_kmh": 0.0013757505832161653,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.636537551879883,
                "transform": {
                    "location": {
                        "x": 889.8020629882812,
                        "y": 3573.801513671875,
                        "z": 371.23492431640625
                    },
                    "rotation": {
                        "roll": -0.004730223678052425,
                        "pitch": -0.29199740290641785,
                        "yaw": 9.44930362701416
                    }
                },
                "velocity": {
                    "x": 6.548545837402344,
                    "y": 1.076223611831665,
                    "z": -0.04382868483662605
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010274574160575867,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0017917962977662683,
                        "pitch": 0.6695565581321716,
                        "yaw": -170.62454223632812
                    }
                },
                "velocity": {
                    "x": 2.8237775040906854e-05,
                    "y": 1.4499239114229567e-05,
                    "z": 0.0010269669583067298
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.630975604057312,
                "transform": {
                    "location": {
                        "x": 932.3546142578125,
                        "y": 3617.28076171875,
                        "z": 370.8906555175781
                    },
                    "rotation": {
                        "roll": -0.000671388057526201,
                        "pitch": -0.0406191311776638,
                        "yaw": -80.796875
                    }
                },
                "velocity": {
                    "x": 0.2613658905029297,
                    "y": -1.6098963022232056,
                    "z": 0.0017639350844547153
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9171946048736572,
                "transform": {
                    "location": {
                        "x": 902.9678955078125,
                        "y": 3575.93212890625,
                        "z": 371.1296081542969
                    },
                    "rotation": {
                        "roll": -0.0028076181188225746,
                        "pitch": -0.4504646062850952,
                        "yaw": 9.725018501281738
                    }
                },
                "velocity": {
                    "x": 0.9083334803581238,
                    "y": 0.1267450749874115,
                    "z": -0.010580033995211124
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2542647123336792,
                "transform": {
                    "location": {
                        "x": 929.229248046875,
                        "y": 3616.232421875,
                        "z": 370.8908996582031
                    },
                    "rotation": {
                        "roll": -0.0015258777420967817,
                        "pitch": -0.02337290532886982,
                        "yaw": -80.45591735839844
                    }
                },
                "velocity": {
                    "x": 0.20306316018104553,
                    "y": -1.2377163171768188,
                    "z": 0.0019120025681331754
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004520803631749004,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005557291675359011,
                        "pitch": 0.6044785380363464,
                        "yaw": -170.2391815185547
                    }
                },
                "velocity": {
                    "x": 2.132236841134727e-05,
                    "y": 3.2829120755195618e-06,
                    "z": 0.0004515653126873076
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003481997118797153,
                "transform": {
                    "location": {
                        "x": 934.2394409179688,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00019082344078924507,
                        "pitch": 0.03889109566807747,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 1.324687559645099e-06,
                    "y": 4.44085799244931e-06,
                    "z": 0.0003481688618194312
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.4548950195312,
                        "y": 3467.7734375,
                        "z": 370.6168518066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4531860351562,
                        "y": 3450.955322265625,
                        "z": 370.5379943847656
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001125315553508699,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 6.743477570125833e-05,
                        "pitch": 0.008626528084278107,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -1.4113638826529495e-05,
                    "y": -2.0033479813719168e-05,
                    "z": 0.0011250487295910716
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.378761291503906,
                "transform": {
                    "location": {
                        "x": 940.91796875,
                        "y": 3543.7197265625,
                        "z": 370.8518371582031
                    },
                    "rotation": {
                        "roll": 0.003963562194257975,
                        "pitch": -0.09161332249641418,
                        "yaw": -80.83541107177734
                    }
                },
                "velocity": {
                    "x": 2.130425453186035,
                    "y": -13.208030700683594,
                    "z": -0.021268829703330994
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001686703646555543,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0003057038993574679,
                        "pitch": 0.011973320506513119,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 2.9068649382679723e-05,
                    "y": 6.9024390541017056e-06,
                    "z": 0.0016864389181137085
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00014292042760644108,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": 0.000128335872432217,
                        "pitch": 0.5701226592063904,
                        "yaw": -170.8332061767578
                    }
                },
                "velocity": {
                    "x": 1.6089901691884734e-05,
                    "y": 9.229323040926829e-06,
                    "z": 0.00014171161456033587
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.9397583007812,
                        "y": 3483.40185546875,
                        "z": 370.6818542480469
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.9407348632812,
                        "y": 3466.56591796875,
                        "z": 370.60955810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005349391140043736,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0008564485469833016,
                        "pitch": -0.03885011374950409,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.00013034758740104735,
                    "y": 5.0494472816353664e-05,
                    "z": -0.0005163522437214851
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007947711274027824,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 1.984357140827342e-06,
                        "pitch": -0.04391128197312355,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 5.6305668749701e-07,
                    "y": 1.115170334742288e-06,
                    "z": -0.0007947701960802078
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003821529389824718,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0001305523474002257,
                        "pitch": -0.03793486952781677,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -5.1993579290865455e-06,
                    "y": 1.225480730226991e-07,
                    "z": -0.00038211754872463644
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000557366875000298,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.00027465837774798274,
                        "pitch": -0.04626086726784706,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 8.821650112622592e-07,
                    "y": -1.1177938176842872e-05,
                    "z": 0.0005572540685534477
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.0145263671875,
                        "y": 3497.176513671875,
                        "z": 370.7303466796875
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.331314086914062,
                "transform": {
                    "location": {
                        "x": 942.5187377929688,
                        "y": 3512.125,
                        "z": 370.7706298828125
                    },
                    "rotation": {
                        "roll": 0.00028238678351044655,
                        "pitch": 0.16483977437019348,
                        "yaw": 99.28791046142578
                    }
                },
                "velocity": {
                    "x": -1.341011643409729,
                    "y": 8.222650527954102,
                    "z": 0.022195786237716675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.004842664115130901,
                "transform": {
                    "location": {
                        "x": 933.4545288085938,
                        "y": 3547.917724609375,
                        "z": 370.8542175292969
                    },
                    "rotation": {
                        "roll": 0.0009901018347591162,
                        "pitch": 0.09207777678966522,
                        "yaw": 99.36678314208984
                    }
                },
                "velocity": {
                    "x": 0.0007895673625171185,
                    "y": -0.004761506337672472,
                    "z": 0.0003950118843931705
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1413048952817917,
                "transform": {
                    "location": {
                        "x": 931.7990112304688,
                        "y": 3558.1982421875,
                        "z": 370.8753967285156
                    },
                    "rotation": {
                        "roll": 0.0006996386218816042,
                        "pitch": 0.10342954844236374,
                        "yaw": 99.27877807617188
                    }
                },
                "velocity": {
                    "x": -0.02254696749150753,
                    "y": 0.13949079811573029,
                    "z": 0.001010999665595591
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.4444580078125,
                        "y": 3482.078369140625,
                        "z": 370.67437744140625
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032968521118164,
                "transform": {
                    "location": {
                        "x": 939.6443481445312,
                        "y": 3529.919189453125,
                        "z": 370.8191833496094
                    },
                    "rotation": {
                        "roll": 0.0011077683884650469,
                        "pitch": 0.15115207433700562,
                        "yaw": 99.1321029663086
                    }
                },
                "velocity": {
                    "x": -1.2758045196533203,
                    "y": 7.930980205535889,
                    "z": 0.021472454071044922
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7395132780075073,
                "transform": {
                    "location": {
                        "x": 936.2319946289062,
                        "y": 3551.114501953125,
                        "z": 370.8623352050781
                    },
                    "rotation": {
                        "roll": 0.0013767625205218792,
                        "pitch": 0.11253418773412704,
                        "yaw": 99.12174987792969
                    }
                },
                "velocity": {
                    "x": -0.27569180727005005,
                    "y": 1.7175261974334717,
                    "z": 0.002086153021082282
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000400696590077132,
                "transform": {
                    "location": {
                        "x": 934.1455078125,
                        "y": 3564.130859375,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": 0.0008881950052455068,
                        "pitch": 0.047824982553720474,
                        "yaw": 98.88385009765625
                    }
                },
                "velocity": {
                    "x": -0.0001326001074630767,
                    "y": -6.792029307689518e-05,
                    "z": 0.00037197014898993075
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3356943726539612,
        "expert_target_speed": 0.0,
        "target_point": [
            20.771903138472545,
            0.46377538384490613
        ],
        "target_point_next": [
            38.77140543394974,
            0.5852740141386334
        ]
    },
    "555": {
        "acceleration": [
            -0.14349070191383362,
            0.9300777316093445,
            0.0031784060411155224
        ],
        "angular_velocity": [
            0.24928884208202362,
            0.03313790261745453,
            -0.8137113451957703
        ],
        "forward_vector": [
            -0.151746466755867,
            0.9884194135665894,
            0.0003131627745460719
        ],
        "right_vector": [
            -0.9884194731712341,
            -0.1517464816570282,
            6.391593615262536e-06
        ],
        "location": [
            930.744873046875,
            3567.43310546875,
            370.8764343261719
        ],
        "rotation": [
            -0.00036621137405745685,
            0.01794290542602539,
            98.7281494140625
        ],
        "velocity": [
            -0.03584326431155205,
            0.2445385903120041,
            0.0014462089166045189
        ],
        "speed": 0.2471514955412772,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.156280517578125,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -1.549428475300374e-06,
                1.6987137314572465e-06,
                -0.001029724022373557
            ],
            "speed_kmh": 0.0037070157213029385,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.2033562660217285,
                "transform": {
                    "location": {
                        "x": 891.2022705078125,
                        "y": 3574.03173828125,
                        "z": 371.2244567871094
                    },
                    "rotation": {
                        "roll": -0.0016479486366733909,
                        "pitch": -0.16958676278591156,
                        "yaw": 9.2853422164917
                    }
                },
                "velocity": {
                    "x": 4.148956298828125,
                    "y": 0.6733523607254028,
                    "z": -0.03101114183664322
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00027511417283676565,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0017931503243744373,
                        "pitch": 0.669488251209259,
                        "yaw": -170.62442016601562
                    }
                },
                "velocity": {
                    "x": 2.24000214075204e-05,
                    "y": 6.053224296920234e-06,
                    "z": 0.0002741339267231524
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3050625324249268,
                "transform": {
                    "location": {
                        "x": 932.4426879882812,
                        "y": 3616.739501953125,
                        "z": 370.8881530761719
                    },
                    "rotation": {
                        "roll": -0.0013733021914958954,
                        "pitch": 0.3143457770347595,
                        "yaw": -80.79425048828125
                    }
                },
                "velocity": {
                    "x": 0.37024596333503723,
                    "y": -2.275132417678833,
                    "z": 0.0019419669406488538
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0365396738052368,
                "transform": {
                    "location": {
                        "x": 903.4203491210938,
                        "y": 3576.005859375,
                        "z": 371.1262512207031
                    },
                    "rotation": {
                        "roll": -0.006286622490733862,
                        "pitch": -0.42653846740722656,
                        "yaw": 9.702838897705078
                    }
                },
                "velocity": {
                    "x": 1.0238960981369019,
                    "y": 0.16120825707912445,
                    "z": -0.007959566079080105
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0055076307617127895,
                "transform": {
                    "location": {
                        "x": 929.2710571289062,
                        "y": 3615.9755859375,
                        "z": 370.8913879394531
                    },
                    "rotation": {
                        "roll": -0.002197264228016138,
                        "pitch": -0.0627216249704361,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": 0.0005671433755196631,
                    "y": -0.005444937385618687,
                    "z": 0.0006041547749191523
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006967256776988506,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005557291675359011,
                        "pitch": 0.6044785380363464,
                        "yaw": -170.2391815185547
                    }
                },
                "velocity": {
                    "x": 2.4968012439785525e-05,
                    "y": 4.674559477280127e-06,
                    "z": 0.0006962624611333013
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000394187867641449,
                "transform": {
                    "location": {
                        "x": 934.2394409179688,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00019082344078924507,
                        "pitch": 0.03889109566807747,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 5.311069344315911e-06,
                    "y": -4.204763172310777e-06,
                    "z": 0.0003941296599805355
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.1239624023438,
                        "y": 3469.82958984375,
                        "z": 370.6254577636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.1290893554688,
                        "y": 3452.96923828125,
                        "z": 370.5480651855469
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004414660797920078,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004546736308839172,
                        "pitch": 0.008824603632092476,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -1.35000027512433e-05,
                    "y": -1.9617064026533626e-06,
                    "z": 0.0004412552516441792
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.40461540222168,
                "transform": {
                    "location": {
                        "x": 941.4506225585938,
                        "y": 3540.413330078125,
                        "z": 370.84588623046875
                    },
                    "rotation": {
                        "roll": 0.0027673954609781504,
                        "pitch": -0.10916008055210114,
                        "yaw": -80.85578918457031
                    }
                },
                "velocity": {
                    "x": 2.1313674449920654,
                    "y": -13.234061241149902,
                    "z": -0.02458602376282215
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0008756729075685143,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -9.155304724117741e-05,
                        "pitch": 0.01142007578164339,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -2.308870818978903e-07,
                    "y": 6.379361821018392e-07,
                    "z": 0.0008756726165302098
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002013027697103098,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0003356963861733675,
                        "pitch": 0.5702797770500183,
                        "yaw": -170.8330841064453
                    }
                },
                "velocity": {
                    "x": 2.2179632651386783e-05,
                    "y": -4.157349394517951e-06,
                    "z": 0.00020003395911771804
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.6087036132812,
                        "y": 3485.4580078125,
                        "z": 370.6897888183594
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.6142578125,
                        "y": 3468.59521484375,
                        "z": 370.61810302734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00047887061373330653,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0005804378306493163,
                        "pitch": -0.03891158476471901,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 7.101930350472685e-06,
                    "y": 8.135311873047613e-06,
                    "z": -0.00047874884330667555
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003042370663024485,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.0001525920524727553,
                        "pitch": -0.04394543543457985,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.2537639122456312e-05,
                    "y": 3.3298879316134844e-06,
                    "z": -0.00030396037618629634
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010297265835106373,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": -0.03798950836062431,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.549428475300374e-06,
                    "y": 1.6987137314572465e-06,
                    "z": -0.001029724022373557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014888312434777617,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.00033569487277418375,
                        "pitch": -0.04616524651646614,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 8.813077329250518e-06,
                    "y": -2.1574822312686592e-05,
                    "z": 0.001488648820668459
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.6865234375,
                        "y": 3499.2158203125,
                        "z": 370.73724365234375
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.092107772827148,
                "transform": {
                    "location": {
                        "x": 942.1866455078125,
                        "y": 3514.161865234375,
                        "z": 370.7762756347656
                    },
                    "rotation": {
                        "roll": 0.00012580532347783446,
                        "pitch": 0.1537475436925888,
                        "yaw": 99.2425537109375
                    }
                },
                "velocity": {
                    "x": -1.296884298324585,
                    "y": 7.987479209899902,
                    "z": 0.021814899519085884
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6255027055740356,
                "transform": {
                    "location": {
                        "x": 933.442626953125,
                        "y": 3547.9912109375,
                        "z": 370.8542785644531
                    },
                    "rotation": {
                        "roll": 0.0010294892126694322,
                        "pitch": 0.10254162549972534,
                        "yaw": 99.35694885253906
                    }
                },
                "velocity": {
                    "x": -0.10134115070104599,
                    "y": 0.617235541343689,
                    "z": 0.0019683837890625
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4345932900905609,
                "transform": {
                    "location": {
                        "x": 931.7868041992188,
                        "y": 3558.276123046875,
                        "z": 370.8757019042969
                    },
                    "rotation": {
                        "roll": 0.0007290564826689661,
                        "pitch": 0.06962011754512787,
                        "yaw": 99.31031799316406
                    }
                },
                "velocity": {
                    "x": -0.06891722232103348,
                    "y": 0.4290923476219177,
                    "z": 0.001233921037055552
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.1155395507812,
                        "y": 3484.1220703125,
                        "z": 370.6826171875
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023153305053711,
                "transform": {
                    "location": {
                        "x": 939.32568359375,
                        "y": 3531.900634765625,
                        "z": 370.8240966796875
                    },
                    "rotation": {
                        "roll": -0.0006713881739415228,
                        "pitch": 0.13844792544841766,
                        "yaw": 99.15684509277344
                    }
                },
                "velocity": {
                    "x": -1.276570200920105,
                    "y": 7.920924663543701,
                    "z": 0.01753395050764084
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.258479356765747,
                "transform": {
                    "location": {
                        "x": 936.1466064453125,
                        "y": 3551.649658203125,
                        "z": 370.8631286621094
                    },
                    "rotation": {
                        "roll": 0.0007609080639667809,
                        "pitch": 0.14264848828315735,
                        "yaw": 99.01094818115234
                    }
                },
                "velocity": {
                    "x": -0.35783132910728455,
                    "y": 2.2299509048461914,
                    "z": 0.0020321367774158716
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006318845553323627,
                "transform": {
                    "location": {
                        "x": 934.1454467773438,
                        "y": 3564.130859375,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": 0.00013410754036158323,
                        "pitch": 0.04982622712850571,
                        "yaw": 98.88385009765625
                    }
                },
                "velocity": {
                    "x": 4.698668635683134e-05,
                    "y": -7.090482540661469e-05,
                    "z": 0.0006261332891881466
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.33171001076698303,
        "expert_target_speed": 0.0,
        "target_point": [
            20.708993599694725,
            0.47417962412376413
        ],
        "target_point_next": [
            38.70843504501763,
            0.6043812310411036
        ]
    },
    "560": {
        "acceleration": [
            0.10368786752223969,
            -0.71208655834198,
            -0.008140183053910732
        ],
        "angular_velocity": [
            0.018120810389518738,
            -0.017751744017004967,
            0.04672956094145775
        ],
        "forward_vector": [
            -0.15141180157661438,
            0.9884705543518066,
            0.0007251500501297414
        ],
        "right_vector": [
            -0.9884707927703857,
            -0.15141184628009796,
            2.4501117877662182e-05
        ],
        "location": [
            930.7362060546875,
            3567.4912109375,
            370.8764343261719
        ],
        "rotation": [
            -0.0014038109220564365,
            0.04154803976416588,
            98.70875549316406
        ],
        "velocity": [
            -0.03448054939508438,
            0.22892940044403076,
            0.0015110778622329235
        ],
        "speed": 0.2315115087295883,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.09754180908203,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -1.1482567288112477e-06,
                2.6479594907868886e-06,
                -0.0006264825933612883
            ],
            "speed_kmh": 0.002255361270125242,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4856693148612976,
                "transform": {
                    "location": {
                        "x": 891.7858276367188,
                        "y": 3574.131591796875,
                        "z": 371.21929931640625
                    },
                    "rotation": {
                        "roll": 0.020860640332102776,
                        "pitch": -0.0359472818672657,
                        "yaw": 7.844487190246582
                    }
                },
                "velocity": {
                    "x": 0.48147398233413696,
                    "y": 0.0636405274271965,
                    "z": -0.002715530339628458
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5427820219192654e-05,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0017931503243744373,
                        "pitch": 0.669488251209259,
                        "yaw": -170.62442016601562
                    }
                },
                "velocity": {
                    "x": 2.23866845772136e-05,
                    "y": -3.1396559734275797e-06,
                    "z": -1.1642720892268699e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7238495945930481,
                "transform": {
                    "location": {
                        "x": 932.4664916992188,
                        "y": 3616.6025390625,
                        "z": 370.89312744140625
                    },
                    "rotation": {
                        "roll": 0.00298935454338789,
                        "pitch": -0.29486608505249023,
                        "yaw": -80.91975402832031
                    }
                },
                "velocity": {
                    "x": 0.11620297282934189,
                    "y": -0.7144583463668823,
                    "z": 0.002101049292832613
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3336081504821777,
                "transform": {
                    "location": {
                        "x": 903.64599609375,
                        "y": 3576.041748046875,
                        "z": 371.1244812011719
                    },
                    "rotation": {
                        "roll": -0.005218503996729851,
                        "pitch": -0.40942201018333435,
                        "yaw": 9.730024337768555
                    }
                },
                "velocity": {
                    "x": 1.3161813020706177,
                    "y": 0.2146875262260437,
                    "z": -0.009325351566076279
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0018225513631477952,
                "transform": {
                    "location": {
                        "x": 929.27099609375,
                        "y": 3615.975830078125,
                        "z": 370.8919372558594
                    },
                    "rotation": {
                        "roll": -0.0014953681966289878,
                        "pitch": -0.12822996079921722,
                        "yaw": -80.41346740722656
                    }
                },
                "velocity": {
                    "x": -0.00010857274173758924,
                    "y": 0.001817169482819736,
                    "z": 8.831998275127262e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.7045348765095696e-05,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005557291675359011,
                        "pitch": 0.6044785380363464,
                        "yaw": -170.2391815185547
                    }
                },
                "velocity": {
                    "x": 1.6226395018748008e-05,
                    "y": 9.153289283858612e-06,
                    "z": 4.3199379433644935e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00010184486018260941,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0003114073188044131,
                        "pitch": 0.03896622732281685,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -6.578723059647018e-07,
                    "y": 5.634380158880958e-06,
                    "z": 0.0001016867536236532
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.7930297851562,
                        "y": 3471.88623046875,
                        "z": 370.6341247558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.8197631835938,
                        "y": 3454.89208984375,
                        "z": 370.5576477050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0014754782896488905,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004546736308839172,
                        "pitch": 0.008824603632092476,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 2.6552127110335277e-06,
                    "y": 2.006675231314148e-06,
                    "z": 0.0014754744479432702
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.399371147155762,
                "transform": {
                    "location": {
                        "x": 941.9832763671875,
                        "y": 3537.105224609375,
                        "z": 370.83905029296875
                    },
                    "rotation": {
                        "roll": 0.0009617312462069094,
                        "pitch": -0.11737679690122604,
                        "yaw": -80.85208892822266
                    }
                },
                "velocity": {
                    "x": 2.129640579223633,
                    "y": -13.229018211364746,
                    "z": -0.029330972582101822
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002971441426780075,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -9.155304724117741e-05,
                        "pitch": 0.01142007578164339,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 1.2279006114113145e-05,
                    "y": 7.197053491836414e-06,
                    "z": 0.000296803074888885
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.050866745179519e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0004882826469838619,
                        "pitch": 0.5703412294387817,
                        "yaw": -170.83306884765625
                    }
                },
                "velocity": {
                    "x": 1.702047848084476e-05,
                    "y": -3.759767878364073e-06,
                    "z": -7.85990632721223e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.2778930664062,
                        "y": 3487.514404296875,
                        "z": 370.69769287109375
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.3207397460938,
                        "y": 3470.418701171875,
                        "z": 370.6258239746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014542244607582688,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0008369134739041328,
                        "pitch": -0.03902769833803177,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.0633375495672226e-06,
                    "y": 2.0508723537204787e-05,
                    "z": -0.0014540794072672725
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008587175980210304,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.0001525920524727553,
                        "pitch": -0.04394543543457985,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -6.118226792750647e-06,
                    "y": -2.0887143818981713e-06,
                    "z": -0.0008586932672187686
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006264892290346324,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0001863194484030828,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.1482567288112477e-06,
                    "y": 2.6479594907868886e-06,
                    "z": -0.0006264825933612883
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015682209050282836,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": 0.00013303197920322418,
                        "pitch": -0.04632917046546936,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.00011740919580915943,
                    "y": -1.2393714314384852e-05,
                    "z": 0.0015637705801054835
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.291754245758057,
                "transform": {
                    "location": {
                        "x": 944.4263305664062,
                        "y": 3500.845458984375,
                        "z": 370.74176025390625
                    },
                    "rotation": {
                        "roll": -0.0534362755715847,
                        "pitch": -0.2518973648548126,
                        "yaw": 99.16988372802734
                    }
                },
                "velocity": {
                    "x": -1.0415114164352417,
                    "y": 6.20494270324707,
                    "z": 0.01068348903208971
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.98586368560791,
                "transform": {
                    "location": {
                        "x": 941.8656005859375,
                        "y": 3516.140625,
                        "z": 370.78179931640625
                    },
                    "rotation": {
                        "roll": 0.0006463889731094241,
                        "pitch": 0.15472427010536194,
                        "yaw": 99.20185089111328
                    }
                },
                "velocity": {
                    "x": -1.2754573822021484,
                    "y": 7.883321762084961,
                    "z": 0.021527403965592384
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008393602329306304,
                "transform": {
                    "location": {
                        "x": 933.4163208007812,
                        "y": 3548.151123046875,
                        "z": 370.8547058105469
                    },
                    "rotation": {
                        "roll": 0.00110024178866297,
                        "pitch": 0.08232426643371582,
                        "yaw": 99.31819915771484
                    }
                },
                "velocity": {
                    "x": -3.546036532497965e-05,
                    "y": 3.307285805931315e-05,
                    "z": 0.0008379584178328514
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5483358502388,
                "transform": {
                    "location": {
                        "x": 931.7740478515625,
                        "y": 3558.35546875,
                        "z": 370.87603759765625
                    },
                    "rotation": {
                        "roll": 0.00014291373372543603,
                        "pitch": 0.039594605565071106,
                        "yaw": 99.29952239990234
                    }
                },
                "velocity": {
                    "x": -0.08618013560771942,
                    "y": 0.5415169596672058,
                    "z": 0.0021328639704734087
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.8356323242188,
                        "y": 3485.86083984375,
                        "z": 370.6893615722656
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028055191040039,
                "transform": {
                    "location": {
                        "x": 939.006591796875,
                        "y": 3533.880859375,
                        "z": 370.8285217285156
                    },
                    "rotation": {
                        "roll": 0.00021971379464957863,
                        "pitch": 0.12079872190952301,
                        "yaw": 99.13642120361328
                    }
                },
                "velocity": {
                    "x": -1.275009274482727,
                    "y": 7.926143169403076,
                    "z": 0.016859998926520348
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3417294919490814,
                "transform": {
                    "location": {
                        "x": 936.114013671875,
                        "y": 3551.851806640625,
                        "z": 370.8628845214844
                    },
                    "rotation": {
                        "roll": 0.0016732353251427412,
                        "pitch": -0.15246348083019257,
                        "yaw": 98.90464782714844
                    }
                },
                "velocity": {
                    "x": -0.0554768368601799,
                    "y": 0.3371943533420563,
                    "z": 0.001156396814621985
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005604331963695586,
                "transform": {
                    "location": {
                        "x": 934.1454467773438,
                        "y": 3564.130859375,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": -6.103650230215862e-05,
                        "pitch": 0.0514313206076622,
                        "yaw": 98.88385009765625
                    }
                },
                "velocity": {
                    "x": 4.377345976536162e-05,
                    "y": 3.3753578463802114e-05,
                    "z": 0.0005577005795203149
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3452948331832886,
        "expert_target_speed": 0.0,
        "target_point": [
            20.650084264428227,
            0.48141166034361493
        ],
        "target_point_next": [
            38.64948066287642,
            0.6176984666824401
        ]
    },
    "565": {
        "acceleration": [
            -0.1319369673728943,
            0.7993781566619873,
            -0.010356330312788486
        ],
        "angular_velocity": [
            0.2122822403907776,
            0.06743302196264267,
            0.6490004062652588
        ],
        "forward_vector": [
            -0.15144051611423492,
            0.9884659051895142,
            0.000959872966632247
        ],
        "right_vector": [
            -0.9884663820266724,
            -0.15144062042236328,
            2.6098974558408372e-05
        ],
        "location": [
            930.7269897460938,
            3567.552001953125,
            370.8764343261719
        ],
        "rotation": [
            -0.0014953617937862873,
            0.05499668046832085,
            98.71041870117188
        ],
        "velocity": [
            -0.042392801493406296,
            0.2775528132915497,
            0.0012476539704948664
        ],
        "speed": 0.2807716399220427,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.03606414794922,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                1.3765827134193387e-05,
                4.35555830335943e-06,
                0.00010800918971654028
            ],
            "speed_kmh": 0.00039229188516546807,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.089638352394104,
                "transform": {
                    "location": {
                        "x": 891.9152221679688,
                        "y": 3574.152099609375,
                        "z": 371.22088623046875
                    },
                    "rotation": {
                        "roll": 0.016097847372293472,
                        "pitch": -0.3414957821369171,
                        "yaw": 7.919680118560791
                    }
                },
                "velocity": {
                    "x": 1.0752862691879272,
                    "y": 0.1761530190706253,
                    "z": -0.006425847765058279
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000680399127304554,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0017931503243744373,
                        "pitch": 0.669488251209259,
                        "yaw": -170.62442016601562
                    }
                },
                "velocity": {
                    "x": 2.3549198886030354e-05,
                    "y": 6.536133241752395e-06,
                    "z": 0.0006799600669182837
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7721964120864868,
                "transform": {
                    "location": {
                        "x": 932.5195922851562,
                        "y": 3616.276123046875,
                        "z": 370.88916015625
                    },
                    "rotation": {
                        "roll": -0.0027770944871008396,
                        "pitch": 0.23059400916099548,
                        "yaw": -80.90225982666016
                    }
                },
                "velocity": {
                    "x": 0.2844337522983551,
                    "y": -1.7492212057113647,
                    "z": 0.0016679572872817516
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014542511198669672,
                "transform": {
                    "location": {
                        "x": 903.907958984375,
                        "y": 3576.084716796875,
                        "z": 371.1229248046875
                    },
                    "rotation": {
                        "roll": -0.007293700240552425,
                        "pitch": -0.506868302822113,
                        "yaw": 9.706524848937988
                    }
                },
                "velocity": {
                    "x": 0.00012545705249067396,
                    "y": -5.235707794781774e-05,
                    "z": -0.0014478832017630339
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0007286944892257452,
                "transform": {
                    "location": {
                        "x": 929.2713012695312,
                        "y": 3615.973876953125,
                        "z": 370.8905029296875
                    },
                    "rotation": {
                        "roll": 0.0010781746823340654,
                        "pitch": 0.050536565482616425,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": -5.261136539047584e-05,
                    "y": 0.0006975674186833203,
                    "z": -0.00020402809605002403
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002580133732408285,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005557291675359011,
                        "pitch": 0.6044785380363464,
                        "yaw": -170.2391815185547
                    }
                },
                "velocity": {
                    "x": 1.9576475096982904e-05,
                    "y": 2.817343784045079e-06,
                    "z": 0.0002572541998233646
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.074022631859407e-06,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0003114073188044131,
                        "pitch": 0.03896622732281685,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -5.005538810110011e-07,
                    "y": 8.051981694734422e-07,
                    "z": -1.8446331750965328e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.4620361328125,
                        "y": 3473.9423828125,
                        "z": 370.6427917480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.5499877929688,
                        "y": 3456.568115234375,
                        "z": 370.5654602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009809373877942562,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004546736308839172,
                        "pitch": 0.008824603632092476,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 1.3170576949050883e-06,
                    "y": 3.906424353772309e-06,
                    "z": 0.000980928773060441
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.396244049072266,
                "transform": {
                    "location": {
                        "x": 942.5153198242188,
                        "y": 3533.798583984375,
                        "z": 370.83209228515625
                    },
                    "rotation": {
                        "roll": 0.0007711659418419003,
                        "pitch": -0.11767732352018356,
                        "yaw": -80.86336517333984
                    }
                },
                "velocity": {
                    "x": 2.1279287338256836,
                    "y": -13.226122856140137,
                    "z": -0.03066020831465721
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0011302625061944127,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -9.155304724117741e-05,
                        "pitch": 0.01142007578164339,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 2.962575081255636e-06,
                    "y": 2.679327053556335e-06,
                    "z": 0.001130255521275103
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1531346646952443e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0005187998758628964,
                        "pitch": 0.5703412294387817,
                        "yaw": -170.83306884765625
                    }
                },
                "velocity": {
                    "x": 1.8850563719752245e-05,
                    "y": 2.6179291126027238e-06,
                    "z": -1.0069834388559684e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.9468383789062,
                        "y": 3489.57080078125,
                        "z": 370.70538330078125
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.065673828125,
                        "y": 3472.00341796875,
                        "z": 370.6324462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010011185804614797,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0012421892024576664,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.810203113767784e-05,
                    "y": 1.7190910739373066e-06,
                    "z": 9.607135143596679e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005039579700678587,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 4.134466507821344e-05,
                        "pitch": -0.04394543543457985,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.643722041284491e-07,
                    "y": 1.0965717365252203e-06,
                    "z": -0.0005039566894993186
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010896996536757797,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0001863194484030828,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.3765827134193387e-05,
                    "y": 4.35555830335943e-06,
                    "z": 0.00010800918971654028
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00016038783360272646,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": 0.00033096244442276657,
                        "pitch": -0.04632917046546936,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -5.9776706621050835e-05,
                    "y": 2.530691199353896e-05,
                    "z": -0.00014666479546576738
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.4967427253723145,
                "transform": {
                    "location": {
                        "x": 944.15771484375,
                        "y": 3502.4248046875,
                        "z": 370.74420166015625
                    },
                    "rotation": {
                        "roll": -0.0518188402056694,
                        "pitch": 0.02324313297867775,
                        "yaw": 99.61393737792969
                    }
                },
                "velocity": {
                    "x": -1.1083202362060547,
                    "y": 6.401489734649658,
                    "z": 0.014813394285738468
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.069522857666016,
                "transform": {
                    "location": {
                        "x": 941.5450439453125,
                        "y": 3518.121826171875,
                        "z": 370.7872619628906
                    },
                    "rotation": {
                        "roll": 0.00013308247434906662,
                        "pitch": 0.15827596187591553,
                        "yaw": 99.18592834472656
                    }
                },
                "velocity": {
                    "x": -1.288198471069336,
                    "y": 7.966007709503174,
                    "z": 0.021553944796323776
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009317852091044188,
                "transform": {
                    "location": {
                        "x": 933.4163208007812,
                        "y": 3548.151123046875,
                        "z": 370.85467529296875
                    },
                    "rotation": {
                        "roll": 0.000952859059907496,
                        "pitch": 0.08585547655820847,
                        "yaw": 99.31816864013672
                    }
                },
                "velocity": {
                    "x": -5.4155458201421425e-05,
                    "y": -2.3384969608741812e-05,
                    "z": 0.0009299161029048264
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012330940226092935,
                "transform": {
                    "location": {
                        "x": 931.7637939453125,
                        "y": 3558.416748046875,
                        "z": 370.87591552734375
                    },
                    "rotation": {
                        "roll": 2.9388504117378034e-05,
                        "pitch": 0.06350026279687881,
                        "yaw": 99.26197814941406
                    }
                },
                "velocity": {
                    "x": -9.780056279851124e-05,
                    "y": 0.0011286437511444092,
                    "z": 0.00048694893484935164
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.5824584960938,
                        "y": 3487.43359375,
                        "z": 370.6954345703125
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.706532001495361,
                "transform": {
                    "location": {
                        "x": 938.6904296875,
                        "y": 3535.8447265625,
                        "z": 370.832763671875
                    },
                    "rotation": {
                        "roll": -0.0013427762314677238,
                        "pitch": 0.052435360848903656,
                        "yaw": 99.16422271728516
                    }
                },
                "velocity": {
                    "x": -1.2269209623336792,
                    "y": 7.608220100402832,
                    "z": 0.0168257225304842
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3850663900375366,
                "transform": {
                    "location": {
                        "x": 936.0798950195312,
                        "y": 3552.0654296875,
                        "z": 370.8635559082031
                    },
                    "rotation": {
                        "roll": -0.0016174388583749533,
                        "pitch": 0.14044234156608582,
                        "yaw": 98.86668395996094
                    }
                },
                "velocity": {
                    "x": -0.21853967010974884,
                    "y": 1.3677154779434204,
                    "z": 0.0019278906984254718
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.082696588942781e-05,
                "transform": {
                    "location": {
                        "x": 934.1454467773438,
                        "y": 3564.130859375,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": 0.00017788181139621884,
                        "pitch": 0.05149279162287712,
                        "yaw": 98.88385009765625
                    }
                },
                "velocity": {
                    "x": -4.337447171565145e-05,
                    "y": -1.163048182206694e-05,
                    "z": -2.3806878743926063e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.33632904291152954,
        "expert_target_speed": 0.0,
        "target_point": [
            20.58861243204433,
            0.48091707513899173
        ],
        "target_point_next": [
            38.58801272232267,
            0.6166889145604282
        ]
    },
    "570": {
        "acceleration": [
            0.02925276756286621,
            -0.14125287532806396,
            0.0020599341951310635
        ],
        "angular_velocity": [
            -0.13180243968963623,
            -0.030486995354294777,
            -1.4626251459121704
        ],
        "forward_vector": [
            -0.15039755403995514,
            0.9886239767074585,
            0.0018026818288490176
        ],
        "right_vector": [
            -0.9886255860328674,
            -0.15039780735969543,
            4.260975401848555e-06
        ],
        "location": [
            930.7123413085938,
            3567.64794921875,
            370.8763122558594
        ],
        "rotation": [
            -0.00024413628852926195,
            0.10328611731529236,
            98.64997863769531
        ],
        "velocity": [
            -0.06456255912780762,
            0.4280340075492859,
            0.0014236258575692773
        ],
        "speed": 0.43287577393500987,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 56.93901443481445,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -1.055603934219107e-05,
                -5.137570951774251e-06,
                -0.0007379990420304239
            ],
            "speed_kmh": 0.0026571326880475005,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9066333770751953,
                "transform": {
                    "location": {
                        "x": 892.285888671875,
                        "y": 3574.2109375,
                        "z": 371.2193908691406
                    },
                    "rotation": {
                        "roll": 0.013122170232236385,
                        "pitch": -0.458251029253006,
                        "yaw": 8.1358642578125
                    }
                },
                "velocity": {
                    "x": 1.88166344165802,
                    "y": 0.30730918049812317,
                    "z": -0.012433738447725773
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00029515320784412324,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0017931503243744373,
                        "pitch": 0.669488251209259,
                        "yaw": -170.62442016601562
                    }
                },
                "velocity": {
                    "x": 2.0781233615707606e-05,
                    "y": 1.67514372151345e-05,
                    "z": 0.0002939437690656632
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002093635266646743,
                "transform": {
                    "location": {
                        "x": 932.5449829101562,
                        "y": 3616.125,
                        "z": 370.8929138183594
                    },
                    "rotation": {
                        "roll": 0.0060813771560788155,
                        "pitch": -0.22760237753391266,
                        "yaw": -80.99410247802734
                    }
                },
                "velocity": {
                    "x": 0.0002958509139716625,
                    "y": -0.0018327226862311363,
                    "z": 0.0009679403738118708
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001260913209989667,
                "transform": {
                    "location": {
                        "x": 903.9082641601562,
                        "y": 3576.084716796875,
                        "z": 371.1225280761719
                    },
                    "rotation": {
                        "roll": -0.00567626953125,
                        "pitch": -0.45086759328842163,
                        "yaw": 9.706486701965332
                    }
                },
                "velocity": {
                    "x": -0.00012651387078221887,
                    "y": 0.00016956101171672344,
                    "z": 0.0012430388014763594
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00040236959466710687,
                "transform": {
                    "location": {
                        "x": 929.2713012695312,
                        "y": 3615.973876953125,
                        "z": 370.8904113769531
                    },
                    "rotation": {
                        "roll": 0.0009565937798470259,
                        "pitch": 0.05848007649183273,
                        "yaw": -80.41349792480469
                    }
                },
                "velocity": {
                    "x": -1.700530992820859e-05,
                    "y": -0.0002356168261030689,
                    "z": -0.00032572506461292505
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.971822974970564e-05,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005557291675359011,
                        "pitch": 0.6044785380363464,
                        "yaw": -170.2391815185547
                    }
                },
                "velocity": {
                    "x": 1.0064392881758977e-05,
                    "y": 1.3460423360811546e-05,
                    "z": 5.730437987949699e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001762880856404081,
                "transform": {
                    "location": {
                        "x": 934.2394409179688,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0001953324390342459,
                        "pitch": 0.03909600153565407,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -6.813066875110962e-07,
                    "y": -2.5486015147180296e-06,
                    "z": 0.00017626835324335843
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.1311645507812,
                        "y": 3475.998779296875,
                        "z": 370.65142822265625
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2498779296875,
                        "y": 3458.432373046875,
                        "z": 370.57421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.200324711855501e-05,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 9.208498522639275e-05,
                        "pitch": 0.008612868376076221,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -7.508008820877876e-06,
                    "y": -1.3743334648097516e-06,
                    "z": 9.168608812615275e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.398259162902832,
                "transform": {
                    "location": {
                        "x": 943.0472412109375,
                        "y": 3530.4921875,
                        "z": 370.82440185546875
                    },
                    "rotation": {
                        "roll": -0.0001525858388049528,
                        "pitch": -0.14404185116291046,
                        "yaw": -80.85790252685547
                    }
                },
                "velocity": {
                    "x": 2.128002882003784,
                    "y": -13.228147506713867,
                    "z": -0.032330408692359924
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00052422791486606,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -9.155304724117741e-05,
                        "pitch": 0.01142007578164339,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -1.3651959989147144e-06,
                    "y": 9.902915962811676e-07,
                    "z": 0.0005242251791059971
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00024884752929210663,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -3.052058309549466e-05,
                        "pitch": 0.570245623588562,
                        "yaw": -170.83306884765625
                    }
                },
                "velocity": {
                    "x": 1.4931633813830558e-05,
                    "y": -1.6697867977200076e-06,
                    "z": -0.00024839353864081204
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.615966796875,
                        "y": 3491.627197265625,
                        "z": 370.7127990722656
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.7813720703125,
                        "y": 3473.771240234375,
                        "z": 370.6399230957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009334584465250373,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0008346289396286011,
                        "pitch": -0.03902769833803177,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.5500439985771663e-05,
                    "y": -3.372028368175961e-05,
                    "z": -0.0009327203733846545
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 4.134466507821344e-05,
                        "pitch": -0.04394543543457985,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00073809246532619,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0002490234619472176,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.055603934219107e-05,
                    "y": -5.137570951774251e-06,
                    "z": -0.0007379990420304239
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00043841422302648425,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": -0.000366210617357865,
                        "pitch": -0.04623354971408844,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 5.36212701263139e-06,
                    "y": 3.222264422220178e-05,
                    "z": 0.0004371955874375999
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.372073173522949,
                "transform": {
                    "location": {
                        "x": 943.8999633789062,
                        "y": 3503.9111328125,
                        "z": 370.748779296875
                    },
                    "rotation": {
                        "roll": -0.027069102972745895,
                        "pitch": -0.14761404693126678,
                        "yaw": 99.81706237792969
                    }
                },
                "velocity": {
                    "x": -0.9250321984291077,
                    "y": 5.291806697845459,
                    "z": 0.01638982817530632
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.048974990844727,
                "transform": {
                    "location": {
                        "x": 941.2235717773438,
                        "y": 3520.11181640625,
                        "z": 370.7927551269531
                    },
                    "rotation": {
                        "roll": 0.0007986949058249593,
                        "pitch": 0.15738804638385773,
                        "yaw": 99.17241668701172
                    }
                },
                "velocity": {
                    "x": -1.282074213027954,
                    "y": 7.946183204650879,
                    "z": 0.021610382944345474
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5167432427406311,
                "transform": {
                    "location": {
                        "x": 933.4071044921875,
                        "y": 3548.208740234375,
                        "z": 370.85467529296875
                    },
                    "rotation": {
                        "roll": 0.00038073360337875783,
                        "pitch": 0.10123705863952637,
                        "yaw": 99.32491302490234
                    }
                },
                "velocity": {
                    "x": -0.08236408978700638,
                    "y": 0.5101327896118164,
                    "z": 0.0020694350823760033
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13997267186641693,
                "transform": {
                    "location": {
                        "x": 931.755859375,
                        "y": 3558.467041015625,
                        "z": 370.8758239746094
                    },
                    "rotation": {
                        "roll": -3.0512430384987965e-05,
                        "pitch": 0.08105385303497314,
                        "yaw": 99.27169799804688
                    }
                },
                "velocity": {
                    "x": -0.022182390093803406,
                    "y": 0.13820189237594604,
                    "z": 0.0007266044267453253
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.3374633789062,
                        "y": 3488.95751953125,
                        "z": 370.7013244628906
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.511918067932129,
                "transform": {
                    "location": {
                        "x": 938.4071655273438,
                        "y": 3537.603271484375,
                        "z": 370.83740234375
                    },
                    "rotation": {
                        "roll": 0.00042033291538245976,
                        "pitch": -0.2100214809179306,
                        "yaw": 99.13235473632812
                    }
                },
                "velocity": {
                    "x": -1.0347001552581787,
                    "y": 6.429173946380615,
                    "z": 0.013781147077679634
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2110323905944824,
                "transform": {
                    "location": {
                        "x": 936.009033203125,
                        "y": 3552.512451171875,
                        "z": 370.8641357421875
                    },
                    "rotation": {
                        "roll": -0.00027465654420666397,
                        "pitch": 0.1943666785955429,
                        "yaw": 98.81217193603516
                    }
                },
                "velocity": {
                    "x": -0.3462057411670685,
                    "y": 2.183758497238159,
                    "z": 0.0023289204109460115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003736760700121522,
                "transform": {
                    "location": {
                        "x": 934.1454467773438,
                        "y": 3564.130859375,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": 0.00036622234620153904,
                        "pitch": 0.05148596316576004,
                        "yaw": 98.88385009765625
                    }
                },
                "velocity": {
                    "x": 5.3302894230000675e-05,
                    "y": -1.9762292140512727e-05,
                    "z": -0.0003693264734465629
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3407307267189026,
        "expert_target_speed": 0.0,
        "target_point": [
            20.491034473700953,
            0.5025911496745801
        ],
        "target_point_next": [
            38.49028147058409,
            0.6573566084996063
        ]
    },
    "575": {
        "acceleration": [
            -0.22062093019485474,
            1.6493284702301025,
            0.004847527015954256
        ],
        "angular_velocity": [
            0.24235358834266663,
            -0.03019563853740692,
            0.024952281266450882
        ],
        "forward_vector": [
            -0.1501792073249817,
            0.9886559247970581,
            0.002388832625001669
        ],
        "right_vector": [
            -0.9886587262153625,
            -0.1501796543598175,
            3.195716772097512e-06
        ],
        "location": [
            930.6911010742188,
            3567.7890625,
            370.8763122558594
        ],
        "rotation": [
            -0.00018310161249246448,
            0.13687016069889069,
            98.63733673095703
        ],
        "velocity": [
            -0.10494556277990341,
            0.7015765309333801,
            0.0016918277833610773
        ],
        "speed": 0.7093822664147355,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 56.796329498291016,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -1.2091914868506137e-05,
                6.870063771202695e-06,
                0.00016763249004725367
            ],
            "speed_kmh": 0.0006055502193501531,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0360727310180664,
                "transform": {
                    "location": {
                        "x": 892.8173828125,
                        "y": 3574.295654296875,
                        "z": 371.2154235839844
                    },
                    "rotation": {
                        "roll": 0.007272455841302872,
                        "pitch": -0.4099137783050537,
                        "yaw": 8.397522926330566
                    }
                },
                "velocity": {
                    "x": 2.0091168880462646,
                    "y": 0.3299277126789093,
                    "z": -0.013745088130235672
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011973963119089603,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0019296567188575864,
                        "pitch": 0.6695497632026672,
                        "yaw": -170.62429809570312
                    }
                },
                "velocity": {
                    "x": 3.003314122906886e-05,
                    "y": 1.358133704343345e-05,
                    "z": 0.0011969426413998008
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0025968195404857397,
                "transform": {
                    "location": {
                        "x": 932.5451049804688,
                        "y": 3616.1240234375,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0009978152811527252,
                        "pitch": -0.07113641500473022,
                        "yaw": -80.99407196044922
                    }
                },
                "velocity": {
                    "x": -0.00045989989303052425,
                    "y": 0.0020916180219501257,
                    "z": 0.0014687062939628959
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012081301538273692,
                "transform": {
                    "location": {
                        "x": 903.908447265625,
                        "y": 3576.084716796875,
                        "z": 371.12237548828125
                    },
                    "rotation": {
                        "roll": -0.004943848587572575,
                        "pitch": -0.4301789402961731,
                        "yaw": 9.706456184387207
                    }
                },
                "velocity": {
                    "x": -3.818213735939935e-05,
                    "y": 0.00017728793318383396,
                    "z": 0.0011944411089643836
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005338339251466095,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.0005710346158593893,
                        "pitch": 0.037286002188920975,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": 1.395384970237501e-05,
                    "y": -7.35925932531245e-05,
                    "z": -0.0005285528022795916
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004409590328577906,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005557291675359011,
                        "pitch": 0.6044785380363464,
                        "yaw": -170.2391815185547
                    }
                },
                "velocity": {
                    "x": 1.8605664081405848e-05,
                    "y": 9.816139936447144e-06,
                    "z": 0.0004404569626785815
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.911730113439262e-05,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00029667638591490686,
                        "pitch": 0.03889792412519455,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -3.938004340398038e-07,
                    "y": 2.278992951687542e-06,
                    "z": 5.90720446780324e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.8002319335938,
                        "y": 3478.05517578125,
                        "z": 370.6600646972656
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.0249633789062,
                        "y": 3459.83056640625,
                        "z": 370.5806884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000992470420897007,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00034994794987142086,
                        "pitch": 0.008722150698304176,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -1.412537858413998e-05,
                    "y": -5.607012099062558e-06,
                    "z": 0.00099235400557518
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.39851188659668,
                "transform": {
                    "location": {
                        "x": 943.5792236328125,
                        "y": 3527.185302734375,
                        "z": 370.81591796875
                    },
                    "rotation": {
                        "roll": 0.0015318146906793118,
                        "pitch": -0.14337249100208282,
                        "yaw": -80.86592102050781
                    }
                },
                "velocity": {
                    "x": 2.126624345779419,
                    "y": -13.228625297546387,
                    "z": -0.032485656440258026
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0015032306546345353,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -9.155304724117741e-05,
                        "pitch": 0.01142007578164339,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 2.55323652709194e-06,
                    "y": 1.696912136139872e-06,
                    "z": 0.001503227511420846
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3236150809680112e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0005798343918286264,
                        "pitch": 0.5704027414321899,
                        "yaw": -170.83294677734375
                    }
                },
                "velocity": {
                    "x": 1.7444564946345054e-05,
                    "y": -3.7153529319766676e-06,
                    "z": 1.4893018487782683e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.2850341796875,
                        "y": 3493.68359375,
                        "z": 370.72021484375
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.5673217773438,
                        "y": 3475.100830078125,
                        "z": 370.6455078125
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006951268878765404,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0011926953447982669,
                        "pitch": -0.03863837942481041,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.00012889555364381522,
                    "y": 3.128259049844928e-05,
                    "z": -0.0006823553121648729
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006140947225503623,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -3.051908061024733e-05,
                        "pitch": -0.04391128197312355,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 9.621103345125448e-06,
                    "y": 9.200581985169265e-07,
                    "z": -0.0006140186451375484
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016820839664433151,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.2091914868506137e-05,
                    "y": 6.870063771202695e-06,
                    "z": 0.00016763249004725367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001898056798381731,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": -0.0013427744852378964,
                        "pitch": -0.0455641895532608,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 9.157253953162581e-05,
                    "y": -6.249725174711784e-06,
                    "z": -0.00016613730986136943
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.100683212280273,
                "transform": {
                    "location": {
                        "x": 943.6841430664062,
                        "y": 3505.17919921875,
                        "z": 370.75225830078125
                    },
                    "rotation": {
                        "roll": 0.012397853657603264,
                        "pitch": -0.08382690697908401,
                        "yaw": 99.69627380371094
                    }
                },
                "velocity": {
                    "x": -0.8490622639656067,
                    "y": 5.029500484466553,
                    "z": 0.013604983687400818
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.532631874084473,
                "transform": {
                    "location": {
                        "x": 940.9094848632812,
                        "y": 3522.05810546875,
                        "z": 370.79815673828125
                    },
                    "rotation": {
                        "roll": 0.00039665913209319115,
                        "pitch": 0.14455410838127136,
                        "yaw": 99.16193389892578
                    }
                },
                "velocity": {
                    "x": -1.1993560791015625,
                    "y": 7.436508655548096,
                    "z": 0.020564403384923935
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006617336766794324,
                "transform": {
                    "location": {
                        "x": 933.3850708007812,
                        "y": 3548.34423828125,
                        "z": 370.85498046875
                    },
                    "rotation": {
                        "roll": 0.0008476346265524626,
                        "pitch": 0.08095822483301163,
                        "yaw": 99.29911804199219
                    }
                },
                "velocity": {
                    "x": 0.00016579075600020587,
                    "y": 5.5880413128761575e-05,
                    "z": 0.0006381866987794638
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13477522134780884,
                "transform": {
                    "location": {
                        "x": 931.7410888671875,
                        "y": 3558.55859375,
                        "z": 370.8758850097656
                    },
                    "rotation": {
                        "roll": 0.00024760462110862136,
                        "pitch": 0.08295947313308716,
                        "yaw": 99.24486541748047
                    }
                },
                "velocity": {
                    "x": -0.021431108936667442,
                    "y": 0.13305792212486267,
                    "z": 0.0008093833457678556
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.1315307617188,
                        "y": 3490.23486328125,
                        "z": 370.7059631347656
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5746437311172485,
                "transform": {
                    "location": {
                        "x": 938.2366333007812,
                        "y": 3538.64990234375,
                        "z": 370.8433532714844
                    },
                    "rotation": {
                        "roll": -0.018890343606472015,
                        "pitch": -1.3013900518417358,
                        "yaw": 98.76380920410156
                    }
                },
                "velocity": {
                    "x": -0.259258896112442,
                    "y": 1.553153157234192,
                    "z": 0.0017873001052066684
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.003558339085429907,
                "transform": {
                    "location": {
                        "x": 935.9479370117188,
                        "y": 3552.896484375,
                        "z": 370.8640441894531
                    },
                    "rotation": {
                        "roll": 0.004838948603719473,
                        "pitch": -0.19070570170879364,
                        "yaw": 98.7085952758789
                    }
                },
                "velocity": {
                    "x": -0.00080022809561342,
                    "y": 0.003295379225164652,
                    "z": 0.0010779089061543345
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.4020252820046153e-05,
                "transform": {
                    "location": {
                        "x": 934.1454467773438,
                        "y": 3564.130859375,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": -0.00018310949963051826,
                        "pitch": 0.05154060572385788,
                        "yaw": 98.88385009765625
                    }
                },
                "velocity": {
                    "x": 5.912147116760025e-06,
                    "y": -5.37520281795878e-06,
                    "z": 1.1520469342940487e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.35038918256759644,
        "expert_target_speed": 0.0,
        "target_point": [
            20.34822064965701,
            0.5072934398638997
        ],
        "target_point_next": [
            38.34743315297883,
            0.666019815476643
        ]
    },
    "580": {
        "acceleration": [
            -0.04455357789993286,
            0.31130075454711914,
            0.0009170547127723694
        ],
        "angular_velocity": [
            -0.09020376950502396,
            -0.00401634257286787,
            -0.2909001410007477
        ],
        "forward_vector": [
            -0.14969469606876373,
            0.988730251789093,
            0.001975653925910592
        ],
        "right_vector": [
            -0.9887322187423706,
            -0.14969491958618164,
            -3.692851169034839e-05
        ],
        "location": [
            930.6639404296875,
            3567.969970703125,
            370.8765563964844
        ],
        "rotation": [
            0.002115851966664195,
            0.1131967157125473,
            98.6092529296875
        ],
        "velocity": [
            -0.11343342810869217,
            0.76380455493927,
            0.0017932510236278176
        ],
        "speed": 0.7721816760053726,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 56.61341857910156,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -1.0911493518506177e-05,
                5.689170166078839e-07,
                -0.0009708681609481573
            ],
            "speed_kmh": 0.003495346712286354,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6526791453361511,
                "transform": {
                    "location": {
                        "x": 893.0291137695312,
                        "y": 3574.329345703125,
                        "z": 371.2127685546875
                    },
                    "rotation": {
                        "roll": 0.0012002880685031414,
                        "pitch": -0.2601960301399231,
                        "yaw": 8.565347671508789
                    }
                },
                "velocity": {
                    "x": 0.6437821984291077,
                    "y": 0.10731593519449234,
                    "z": -0.004223203752189875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000584913999773562,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.00231622951105237,
                        "pitch": 0.669904887676239,
                        "yaw": -170.624267578125
                    }
                },
                "velocity": {
                    "x": 2.5406330678379163e-05,
                    "y": -2.796705757646123e-06,
                    "z": 0.0005843552644364536
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0019153039902448654,
                "transform": {
                    "location": {
                        "x": 932.5453491210938,
                        "y": 3616.122802734375,
                        "z": 370.8905029296875
                    },
                    "rotation": {
                        "roll": -9.155061707133427e-05,
                        "pitch": 0.07127302139997482,
                        "yaw": -80.99407196044922
                    }
                },
                "velocity": {
                    "x": -4.168604391452391e-06,
                    "y": 0.00025784954777918756,
                    "z": 0.0018978634616360068
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016204537823796272,
                "transform": {
                    "location": {
                        "x": 903.9085083007812,
                        "y": 3576.084716796875,
                        "z": 371.12237548828125
                    },
                    "rotation": {
                        "roll": -0.005737305618822575,
                        "pitch": -0.4242844879627228,
                        "yaw": 9.706438064575195
                    }
                },
                "velocity": {
                    "x": 4.075802644365467e-05,
                    "y": -0.00012449308997020125,
                    "z": 0.0016151503659784794
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00045499266707338393,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.0008988704066723585,
                        "pitch": 0.037422604858875275,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": 2.0228004359523766e-05,
                    "y": 1.9478084141155705e-05,
                    "z": -0.00045412525651045144
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00039450902841053903,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.00591031601652503,
                        "pitch": 0.6043760776519775,
                        "yaw": -170.2388458251953
                    }
                },
                "velocity": {
                    "x": 2.20987949433038e-05,
                    "y": 1.110360017264611e-06,
                    "z": 0.0003938880399800837
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00023820679052732885,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00029667638591490686,
                        "pitch": 0.03889792412519455,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 1.9050023183808662e-05,
                    "y": 3.7872464417887386e-06,
                    "z": 0.00023741362383589149
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.4691162109375,
                        "y": 3480.111572265625,
                        "z": 370.66851806640625
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8218383789062,
                        "y": 3461.091552734375,
                        "z": 370.58612060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0007728470372967422,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004510192375164479,
                        "pitch": 0.008769962005317211,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 1.1107316822744906e-05,
                    "y": 6.251772902032826e-06,
                    "z": 0.0007727419142611325
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.190967559814453,
                "transform": {
                    "location": {
                        "x": 944.1097412109375,
                        "y": 3523.88623046875,
                        "z": 370.8074035644531
                    },
                    "rotation": {
                        "roll": -6.103843043092638e-05,
                        "pitch": -0.17520800232887268,
                        "yaw": -80.86289978027344
                    }
                },
                "velocity": {
                    "x": 2.0940120220184326,
                    "y": -13.02365779876709,
                    "z": -0.03289828076958656
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0008739354088902473,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -9.155304724117741e-05,
                        "pitch": 0.01142007578164339,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -9.647541446611285e-06,
                    "y": -4.621154857886722e-06,
                    "z": 0.0008738699252717197
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4286982807097957e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": 0.00017722016491461545,
                        "pitch": 0.5701500177383423,
                        "yaw": -170.8329315185547
                    }
                },
                "velocity": {
                    "x": 1.4728530913998839e-05,
                    "y": 1.1678049304464366e-05,
                    "z": -1.5380215700133704e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.9539794921875,
                        "y": 3495.739990234375,
                        "z": 370.7271728515625
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.3638916015625,
                        "y": 3476.364013671875,
                        "z": 370.6507873535156
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003036517009604722,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0009740808745846152,
                        "pitch": -0.03900037705898285,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 8.143943705363199e-05,
                    "y": 4.136825737077743e-05,
                    "z": -0.00028958701295778155
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002432706387480721,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.00021362522966228426,
                        "pitch": -0.04391128197312355,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.5492823877139017e-05,
                    "y": -1.553436732137925e-06,
                    "z": -0.00024277184274978936
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009709296282380819,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.00019688991596922278,
                        "pitch": -0.03796219080686569,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.0911493518506177e-05,
                    "y": 5.689170166078839e-07,
                    "z": -0.0009708681609481573
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000535800470970571,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": -0.0010986351408064365,
                        "pitch": -0.04593301936984062,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 5.663148840540089e-06,
                    "y": 2.349723581573926e-05,
                    "z": 0.0005352550069801509
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.454266548156738,
                "transform": {
                    "location": {
                        "x": 943.4572143554688,
                        "y": 3506.5244140625,
                        "z": 370.75439453125
                    },
                    "rotation": {
                        "roll": 0.009477724321186543,
                        "pitch": 0.39342570304870605,
                        "yaw": 99.60441589355469
                    }
                },
                "velocity": {
                    "x": -1.0702717304229736,
                    "y": 6.364885330200195,
                    "z": 0.01765984483063221
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.0985426902771,
                "transform": {
                    "location": {
                        "x": 940.6163940429688,
                        "y": 3523.876220703125,
                        "z": 370.8031311035156
                    },
                    "rotation": {
                        "roll": -0.0003967256925534457,
                        "pitch": 0.13606418669223785,
                        "yaw": 99.15496063232422
                    }
                },
                "velocity": {
                    "x": -1.128278136253357,
                    "y": 7.008278846740723,
                    "z": 0.018088683485984802
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.18323442339897156,
                "transform": {
                    "location": {
                        "x": 933.3833618164062,
                        "y": 3548.35498046875,
                        "z": 370.8549499511719
                    },
                    "rotation": {
                        "roll": 5.5341937695629895e-05,
                        "pitch": 0.08844411373138428,
                        "yaw": 99.30120086669922
                    }
                },
                "velocity": {
                    "x": -0.029292307794094086,
                    "y": 0.18087421357631683,
                    "z": 0.0011554717784747481
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.15447382628917694,
                "transform": {
                    "location": {
                        "x": 931.7147216796875,
                        "y": 3558.716552734375,
                        "z": 370.87640380859375
                    },
                    "rotation": {
                        "roll": 0.0011752480641007423,
                        "pitch": 0.03858373686671257,
                        "yaw": 99.1430435180664
                    }
                },
                "velocity": {
                    "x": -0.029923338443040848,
                    "y": 0.15154337882995605,
                    "z": 0.0011662387987598777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.921875,
                        "y": 3491.537353515625,
                        "z": 370.7106018066406
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0168936252593994,
                "transform": {
                    "location": {
                        "x": 938.2135009765625,
                        "y": 3538.78271484375,
                        "z": 370.8419494628906
                    },
                    "rotation": {
                        "roll": -0.007904033176600933,
                        "pitch": -0.8605286478996277,
                        "yaw": 98.6208724975586
                    }
                },
                "velocity": {
                    "x": -0.16012819111347198,
                    "y": 1.0042028427124023,
                    "z": 0.0028942201752215624
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.292437195777893,
                "transform": {
                    "location": {
                        "x": 935.9169921875,
                        "y": 3553.091552734375,
                        "z": 370.86468505859375
                    },
                    "rotation": {
                        "roll": 3.3350586736702326e-09,
                        "pitch": 0.1026235893368721,
                        "yaw": 98.750732421875
                    }
                },
                "velocity": {
                    "x": -0.20259152352809906,
                    "y": 1.2764580249786377,
                    "z": 0.0023618601262569427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00025103538064286113,
                "transform": {
                    "location": {
                        "x": 934.1454467773438,
                        "y": 3564.130859375,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": 0.00015740956587251276,
                        "pitch": 0.05151328444480896,
                        "yaw": 98.88385009765625
                    }
                },
                "velocity": {
                    "x": -9.951170068234205e-05,
                    "y": -1.495938249718165e-05,
                    "z": 0.00022998347412794828
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3495674431324005,
        "expert_target_speed": 0.0,
        "target_point": [
            20.165033953231934,
            0.5174943425947576
        ],
        "target_point_next": [
            38.16416648822813,
            0.6850437075378863
        ]
    },
    "585": {
        "acceleration": [
            -0.13876140117645264,
            0.9270143508911133,
            0.011365506798028946
        ],
        "angular_velocity": [
            0.11762501299381256,
            -0.01302165538072586,
            -0.07456527650356293
        ],
        "forward_vector": [
            -0.1493532955646515,
            0.9887815117835999,
            0.0021617396268993616
        ],
        "right_vector": [
            -0.9887838363647461,
            -0.14935360848903656,
            -1.6311181752826087e-05
        ],
        "location": [
            930.6322631835938,
            3568.18359375,
            370.8767395019531
        ],
        "rotation": [
            0.0009345641010440886,
            0.12385864555835724,
            98.58946990966797
        ],
        "velocity": [
            -0.141625314950943,
            0.9546664953231812,
            0.0024612615816295147
        ],
        "speed": 0.9651144217799251,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 56.397491455078125,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -1.8949631339637563e-06,
                2.9567906949523604e-06,
                -0.0006456513074226677
            ],
            "speed_kmh": 0.0023243790908066796,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5477426052093506,
                "transform": {
                    "location": {
                        "x": 893.307861328125,
                        "y": 3574.374267578125,
                        "z": 371.21240234375
                    },
                    "rotation": {
                        "roll": 0.004656380973756313,
                        "pitch": -0.44448819756507874,
                        "yaw": 8.64764404296875
                    }
                },
                "velocity": {
                    "x": 1.52731454372406,
                    "y": 0.2504342198371887,
                    "z": -0.010014171712100506
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000169546838151291,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.001868924591690302,
                        "pitch": 0.66957026720047,
                        "yaw": -170.6241912841797
                    }
                },
                "velocity": {
                    "x": 1.700624852674082e-05,
                    "y": 1.7355196177959442e-06,
                    "z": -0.00016868286184035242
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00042371125891804695,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.122802734375,
                        "z": 370.89068603515625
                    },
                    "rotation": {
                        "roll": 5.825339394505136e-05,
                        "pitch": 0.04861728474497795,
                        "yaw": -80.99405670166016
                    }
                },
                "velocity": {
                    "x": -1.289864485443104e-05,
                    "y": -0.0002331900323042646,
                    "z": 0.0003535353753250092
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000991367967799306,
                "transform": {
                    "location": {
                        "x": 903.9085083007812,
                        "y": 3576.084716796875,
                        "z": 371.12237548828125
                    },
                    "rotation": {
                        "roll": -0.006011964287608862,
                        "pitch": -0.4231575131416321,
                        "yaw": 9.706421852111816
                    }
                },
                "velocity": {
                    "x": 2.2140591681818478e-05,
                    "y": 1.2274365417397348e-06,
                    "z": 0.0009911200031638145
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.899507232243195e-05,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.0006861039437353611,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": -1.770335870787676e-06,
                    "y": 1.526684513919463e-06,
                    "z": -5.8948735386366025e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.2664418288040906e-05,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.00591031601652503,
                        "pitch": 0.6043760776519775,
                        "yaw": -170.2388458251953
                    }
                },
                "velocity": {
                    "x": 1.6952380974544212e-05,
                    "y": 2.605561121526989e-06,
                    "z": 3.9065078453859314e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001757419086061418,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00029667638591490686,
                        "pitch": 0.03889792412519455,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -2.2459709725808352e-05,
                    "y": 2.9250932129798457e-06,
                    "z": 0.00017427628336008638
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.1382446289062,
                        "y": 3482.16796875,
                        "z": 370.6769104003906
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.531005859375,
                        "y": 3462.899658203125,
                        "z": 370.5939636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0016138057690113783,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004510192375164479,
                        "pitch": 0.008769962005317211,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 5.774842861683283e-07,
                    "y": 1.9836368210235378e-06,
                    "z": 0.0016138044884428382
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.430997848510742,
                "transform": {
                    "location": {
                        "x": 944.5988159179688,
                        "y": 3520.844970703125,
                        "z": 370.7991638183594
                    },
                    "rotation": {
                        "roll": -0.00021360974642448127,
                        "pitch": -0.4386278986930847,
                        "yaw": -80.86631774902344
                    }
                },
                "velocity": {
                    "x": 1.8146398067474365,
                    "y": -11.285998344421387,
                    "z": -0.03221401944756508
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00015305783017538488,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -9.155304724117741e-05,
                        "pitch": 0.01142007578164339,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -4.19969438780754e-07,
                    "y": 6.773386758140987e-07,
                    "z": 0.00015305574925150722
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00012414096272550523,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0002746585523709655,
                        "pitch": 0.5701500177383423,
                        "yaw": -170.8329315185547
                    }
                },
                "velocity": {
                    "x": 1.2975856407138053e-05,
                    "y": -2.9820947133885056e-07,
                    "z": -0.00012346058792900294
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.6231079101562,
                        "y": 3497.796142578125,
                        "z": 370.7342529296875
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.0747680664062,
                        "y": 3478.1611328125,
                        "z": 370.6583251953125
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006271909223869443,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0009740808745846152,
                        "pitch": -0.03900037705898285,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -3.2606400054646656e-05,
                    "y": -3.6521971196634695e-05,
                    "z": -0.0006252770544961095
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010520708747208118,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 0.000430463784141466,
                        "pitch": -0.04387713223695755,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.3249936273496132e-05,
                    "y": -6.111431503086351e-07,
                    "z": -0.0010519871721044183
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006456608534790576,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 6.859372660983354e-05,
                        "pitch": -0.03802366182208061,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.8949631339637563e-06,
                    "y": 2.9567906949523604e-06,
                    "z": -0.0006456513074226677
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00047335599083453417,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": -0.0011291526025161147,
                        "pitch": -0.04589886963367462,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.543190228403546e-05,
                    "y": 5.5627031542826444e-05,
                    "z": 0.0004698226985055953
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.896595478057861,
                "transform": {
                    "location": {
                        "x": 943.154296875,
                        "y": 3508.325927734375,
                        "z": 370.7584533691406
                    },
                    "rotation": {
                        "roll": 0.008136455900967121,
                        "pitch": 0.7296690940856934,
                        "yaw": 99.55105590820312
                    }
                },
                "velocity": {
                    "x": -1.3066293001174927,
                    "y": 7.7877116203308105,
                    "z": 0.02205989696085453
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.171469688415527,
                "transform": {
                    "location": {
                        "x": 940.3734130859375,
                        "y": 3525.385009765625,
                        "z": 370.80718994140625
                    },
                    "rotation": {
                        "roll": 0.0004562157846521586,
                        "pitch": 0.08547981083393097,
                        "yaw": 99.1467056274414
                    }
                },
                "velocity": {
                    "x": -0.6629974246025085,
                    "y": 4.118438720703125,
                    "z": 0.007425813470035791
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.8743258118629456,
                "transform": {
                    "location": {
                        "x": 933.3616333007812,
                        "y": 3548.48876953125,
                        "z": 370.85504150390625
                    },
                    "rotation": {
                        "roll": -0.0003662094532046467,
                        "pitch": 0.10295826941728592,
                        "yaw": 99.28519439697266
                    }
                },
                "velocity": {
                    "x": -0.141025573015213,
                    "y": 0.8628755807876587,
                    "z": 0.0017767333192750812
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.048208475112915,
                "transform": {
                    "location": {
                        "x": 931.6915283203125,
                        "y": 3558.861572265625,
                        "z": 370.8768005371094
                    },
                    "rotation": {
                        "roll": 0.00016800538287498057,
                        "pitch": 0.009589585475623608,
                        "yaw": 99.15038299560547
                    }
                },
                "velocity": {
                    "x": -0.16676397621631622,
                    "y": 1.0348567962646484,
                    "z": 0.0015241717919707298
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.6187133789062,
                        "y": 3493.42236328125,
                        "z": 370.7174377441406
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.87541663646698,
                "transform": {
                    "location": {
                        "x": 938.1539916992188,
                        "y": 3539.15966796875,
                        "z": 370.8394470214844
                    },
                    "rotation": {
                        "roll": -0.007568362168967724,
                        "pitch": 0.06174490600824356,
                        "yaw": 98.7248764038086
                    }
                },
                "velocity": {
                    "x": -0.2952985167503357,
                    "y": 1.8520196676254272,
                    "z": 0.0030818746890872717
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.248128652572632,
                "transform": {
                    "location": {
                        "x": 935.8466796875,
                        "y": 3553.533935546875,
                        "z": 370.86529541015625
                    },
                    "rotation": {
                        "roll": -0.002075194614008069,
                        "pitch": 0.18856102228164673,
                        "yaw": 98.8176498413086
                    }
                },
                "velocity": {
                    "x": -0.35299915075302124,
                    "y": 2.220240831375122,
                    "z": 0.0020687675569206476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.620355998165905e-05,
                "transform": {
                    "location": {
                        "x": 934.1454467773438,
                        "y": 3564.130859375,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": 0.0004042969667352736,
                        "pitch": 0.05144498124718666,
                        "yaw": 98.88385009765625
                    }
                },
                "velocity": {
                    "x": 6.118517194408923e-05,
                    "y": -9.450083666706632e-07,
                    "z": 2.526644129829947e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.35522881150245667,
        "expert_target_speed": 0.0,
        "target_point": [
            19.948895717268478,
            0.5250488917634457
        ],
        "target_point_next": [
            37.94796925371989,
            0.698820671596323
        ]
    },
    "590": {
        "acceleration": [
            -0.11921346187591553,
            0.8271384239196777,
            0.00795421376824379
        ],
        "angular_velocity": [
            0.023586763069033623,
            0.024316992610692978,
            -0.11001431941986084
        ],
        "forward_vector": [
            -0.14886191487312317,
            0.9888551831245422,
            0.002376911463215947
        ],
        "right_vector": [
            -0.9888579249382019,
            -0.14886227250099182,
            -2.506922282918822e-05
        ],
        "location": [
            930.59326171875,
            3568.4462890625,
            370.876953125
        ],
        "rotation": [
            0.0014363647205755115,
            0.1361871361732483,
            98.56100463867188
        ],
        "velocity": [
            -0.1693791300058365,
            1.1460837125778198,
            0.0017406272236257792
        ],
        "speed": 1.1585323327027575,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 56.13196563720703,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -1.665398849581834e-05,
                -2.2060842184146168e-06,
                -0.0004107849672436714
            ],
            "speed_kmh": 0.0014800620218224003,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2128615379333496,
                "transform": {
                    "location": {
                        "x": 893.7944946289062,
                        "y": 3574.45263671875,
                        "z": 371.20916748046875
                    },
                    "rotation": {
                        "roll": 0.003656290005892515,
                        "pitch": -0.4606074392795563,
                        "yaw": 8.797172546386719
                    }
                },
                "velocity": {
                    "x": 2.18365740776062,
                    "y": 0.3580687642097473,
                    "z": -0.0135392090305686
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003520455793477595,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.001868924591690302,
                        "pitch": 0.66957026720047,
                        "yaw": -170.6241912841797
                    }
                },
                "velocity": {
                    "x": 1.9832401449093595e-05,
                    "y": 1.889582745207008e-05,
                    "z": 0.00035097822546958923
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011598574928939342,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.0003967279917560518,
                        "pitch": 0.03626830130815506,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": 1.157436054199934e-05,
                    "y": 1.7242016838281415e-05,
                    "z": 0.0001141115280915983
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.7320183259435e-05,
                "transform": {
                    "location": {
                        "x": 903.9085083007812,
                        "y": 3576.084716796875,
                        "z": 371.12237548828125
                    },
                    "rotation": {
                        "roll": -0.006011964287608862,
                        "pitch": -0.4231575131416321,
                        "yaw": 9.706421852111816
                    }
                },
                "velocity": {
                    "x": 1.4032422768650576e-05,
                    "y": 1.0705915883590933e-05,
                    "z": 5.4535106755793095e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001928741403389722,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.00033264493686147034,
                        "pitch": 0.03897988796234131,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": 2.2552783775608987e-05,
                    "y": 4.807678124052472e-06,
                    "z": -0.00019149071886204183
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3112010239856318e-05,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.00591031601652503,
                        "pitch": 0.6043760776519775,
                        "yaw": -170.2388458251953
                    }
                },
                "velocity": {
                    "x": 1.4977827049733605e-05,
                    "y": 1.3449489415506832e-05,
                    "z": -1.1355217793607153e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00029667638591490686,
                        "pitch": 0.03889792412519455,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.8073120117188,
                        "y": 3484.224365234375,
                        "z": 370.68505859375
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.2196044921875,
                        "y": 3464.834716796875,
                        "z": 370.6023254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009812794160097837,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00028134966851212084,
                        "pitch": 0.008694830350577831,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 3.211013961390563e-07,
                    "y": 1.1324837942083832e-05,
                    "z": 0.000981213990598917
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.26083755493164,
                "transform": {
                    "location": {
                        "x": 945.0139770507812,
                        "y": 3518.263916015625,
                        "z": 370.7919006347656
                    },
                    "rotation": {
                        "roll": -0.0003967048542108387,
                        "pitch": -0.579589307308197,
                        "yaw": -80.86625671386719
                    }
                },
                "velocity": {
                    "x": 1.4709060192108154,
                    "y": -9.143240928649902,
                    "z": -0.026385102421045303
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0011740763438865542,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -9.155304724117741e-05,
                        "pitch": 0.01142007578164339,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 3.1434417451237096e-06,
                    "y": 3.1015426884550834e-06,
                    "z": 0.0011740679619833827
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.702466033748351e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0007019066833890975,
                        "pitch": 0.5704027414321899,
                        "yaw": -170.83285522460938
                    }
                },
                "velocity": {
                    "x": 1.695223181741312e-05,
                    "y": 1.5490129499085015e-06,
                    "z": 2.47873231273843e-07
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.990713119506836,
                "transform": {
                    "location": {
                        "x": 941.2935180664062,
                        "y": 3499.83740234375,
                        "z": 370.7409973144531
                    },
                    "rotation": {
                        "roll": 0.010518570430576801,
                        "pitch": 0.20297954976558685,
                        "yaw": 99.19169616699219
                    }
                },
                "velocity": {
                    "x": -1.3228734731674194,
                    "y": 7.88037109375,
                    "z": 0.03538946062326431
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.7578735351562,
                        "y": 3480.131103515625,
                        "z": 370.6664733886719
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006146070663817227,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0009740808745846152,
                        "pitch": -0.03900037705898285,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 3.651513179647736e-05,
                    "y": 6.585484516108409e-05,
                    "z": -0.0006099767633713782
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000521755195222795,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 0.000430463784141466,
                        "pitch": -0.04387713223695755,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 5.873909572073899e-07,
                    "y": 1.6120681038955809e-06,
                    "z": -0.0005217523430474102
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004111283633392304,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": -0.000244139286223799,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.665398849581834e-05,
                    "y": -2.2060842184146168e-06,
                    "z": -0.0004107849672436714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00040306057780981064,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": 6.476174894487485e-05,
                        "pitch": -0.04626086726784706,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.9155360860168003e-05,
                    "y": 5.63452476853854e-06,
                    "z": 0.0004025657253805548
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7872395515441895,
                "transform": {
                    "location": {
                        "x": 942.8246459960938,
                        "y": 3510.30810546875,
                        "z": 370.765380859375
                    },
                    "rotation": {
                        "roll": 0.02340587228536606,
                        "pitch": 0.40651917457580566,
                        "yaw": 99.42192840576172
                    }
                },
                "velocity": {
                    "x": -1.267235517501831,
                    "y": 7.683409690856934,
                    "z": 0.020753536373376846
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000739781535230577,
                "transform": {
                    "location": {
                        "x": 940.3091430664062,
                        "y": 3525.78369140625,
                        "z": 370.8084716796875
                    },
                    "rotation": {
                        "roll": -0.0005798324709758162,
                        "pitch": 0.03794853016734123,
                        "yaw": 99.13272857666016
                    }
                },
                "velocity": {
                    "x": 1.747482428982039e-06,
                    "y": -7.322853343794122e-05,
                    "z": 0.0007361462339758873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6301244497299194,
                "transform": {
                    "location": {
                        "x": 933.3110961914062,
                        "y": 3548.802734375,
                        "z": 370.85546875
                    },
                    "rotation": {
                        "roll": 0.0002707333769649267,
                        "pitch": 0.10464531928300858,
                        "yaw": 99.3254623413086
                    }
                },
                "velocity": {
                    "x": -0.2591567933559418,
                    "y": 1.6093904972076416,
                    "z": 0.002397155622020364
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2698290944099426,
                "transform": {
                    "location": {
                        "x": 931.6586303710938,
                        "y": 3559.06591796875,
                        "z": 370.8758850097656
                    },
                    "rotation": {
                        "roll": -0.00021361744438763708,
                        "pitch": 0.13806544244289398,
                        "yaw": 99.1476058959961
                    }
                },
                "velocity": {
                    "x": -0.04308236017823219,
                    "y": 0.2663634717464447,
                    "z": 0.0014669704250991344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.298828125,
                        "y": 3495.41064453125,
                        "z": 370.7243957519531
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0532281398773193,
                "transform": {
                    "location": {
                        "x": 938.0574951171875,
                        "y": 3539.766845703125,
                        "z": 370.8392639160156
                    },
                    "rotation": {
                        "roll": -0.008789065293967724,
                        "pitch": 0.43519914150238037,
                        "yaw": 98.8377456665039
                    }
                },
                "velocity": {
                    "x": -0.4817750155925751,
                    "y": 3.0149734020233154,
                    "z": 0.005455722566694021
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.4123740196228027,
                "transform": {
                    "location": {
                        "x": 935.7310791015625,
                        "y": 3554.25830078125,
                        "z": 370.8662109375
                    },
                    "rotation": {
                        "roll": -0.002655019983649254,
                        "pitch": 0.24452759325504303,
                        "yaw": 98.93447875976562
                    }
                },
                "velocity": {
                    "x": -0.5381589531898499,
                    "y": 3.369669198989868,
                    "z": 0.003273601410910487
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.03541111573576927,
                "transform": {
                    "location": {
                        "x": 934.1450805664062,
                        "y": 3564.134033203125,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": -0.00021362693223636597,
                        "pitch": 0.05738724768161774,
                        "yaw": 98.89187622070312
                    }
                },
                "velocity": {
                    "x": -0.006057518534362316,
                    "y": 0.03488493710756302,
                    "z": 0.0005429076845757663
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3518155515193939,
        "expert_target_speed": 10.0,
        "target_point": [
            19.683058184680167,
            0.5354991973910237
        ],
        "target_point_next": [
            37.68204315838515,
            0.7182140528186283
        ]
    },
    "595": {
        "acceleration": [
            -0.21997183561325073,
            1.2713122367858887,
            1.3350509107112885e-05
        ],
        "angular_velocity": [
            0.122837133705616,
            0.025566674768924713,
            0.11307765543460846
        ],
        "forward_vector": [
            -0.14850056171417236,
            0.9889084696769714,
            0.002769109094515443
        ],
        "right_vector": [
            -0.9889122247695923,
            -0.14850126206874847,
            4.84695156046655e-05
        ],
        "location": [
            930.5454711914062,
            3568.76611328125,
            370.87713623046875
        ],
        "rotation": [
            -0.0027771093882620335,
            0.1586584597826004,
            98.54007720947266
        ],
        "velocity": [
            -0.2146754413843155,
            1.4188807010650635,
            0.0022567175328731537
        ],
        "speed": 1.4350289157325147,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.80863571166992,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                5.5088730732677504e-06,
                -4.7148623707471415e-06,
                -0.0009628466796129942
            ],
            "speed_kmh": 0.003466346336768325,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001627337303943932,
                "transform": {
                    "location": {
                        "x": 894.1626586914062,
                        "y": 3574.5126953125,
                        "z": 371.2047119140625
                    },
                    "rotation": {
                        "roll": -0.0009460457367822528,
                        "pitch": -0.2085871398448944,
                        "yaw": 8.930849075317383
                    }
                },
                "velocity": {
                    "x": 0.001533549395389855,
                    "y": 7.92025966802612e-05,
                    "z": -0.0005386838456615806
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005104559240862727,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0016482523642480373,
                        "pitch": 0.6695156097412109,
                        "yaw": -170.6241455078125
                    }
                },
                "velocity": {
                    "x": 2.85726782749407e-05,
                    "y": -9.145010153588373e-06,
                    "z": 0.0005095735541544855
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004588904557749629,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00036621224717237055,
                        "pitch": 0.03674641624093056,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": -4.160509433859261e-06,
                    "y": 3.0237635655794293e-05,
                    "z": 0.00045787423732690513
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005494671640917659,
                "transform": {
                    "location": {
                        "x": 903.9085083007812,
                        "y": 3576.084716796875,
                        "z": 371.12237548828125
                    },
                    "rotation": {
                        "roll": -0.005249018780887127,
                        "pitch": -0.4217914640903473,
                        "yaw": 9.706375122070312
                    }
                },
                "velocity": {
                    "x": 1.5944242477416992e-05,
                    "y": 5.81425592827145e-06,
                    "z": 0.0005492049967870116
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00010738997661974281,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.00033264493686147034,
                        "pitch": 0.03897988796234131,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": -1.489610986027401e-05,
                    "y": -1.092180582418223e-06,
                    "z": -0.00010634622594807297
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.80728364083916e-05,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.00591031601652503,
                        "pitch": 0.6043760776519775,
                        "yaw": -170.2388458251953
                    }
                },
                "velocity": {
                    "x": 1.827217602112796e-05,
                    "y": 1.1410163097025361e-05,
                    "z": 9.567767119733617e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00014704866043757647,
                "transform": {
                    "location": {
                        "x": 934.2394409179688,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00018847723549697548,
                        "pitch": 0.03894573822617531,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -4.3417790038802195e-06,
                    "y": 1.3652862662638654e-06,
                    "z": 0.00014697820006404072
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.4892578125,
                        "y": 3486.2001953125,
                        "z": 370.69268798828125
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.9110717773438,
                        "y": 3466.7509765625,
                        "z": 370.6103820800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00019378818979021162,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00028134966851212084,
                        "pitch": 0.008694830350577831,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -4.434676554865291e-07,
                    "y": 7.025199124655046e-07,
                    "z": 0.00019378641445655376
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.20360803604126,
                "transform": {
                    "location": {
                        "x": 945.3346557617188,
                        "y": 3516.2705078125,
                        "z": 370.7863464355469
                    },
                    "rotation": {
                        "roll": -0.0003051604435313493,
                        "pitch": -0.5941171646118164,
                        "yaw": -80.87351989746094
                    }
                },
                "velocity": {
                    "x": 1.144144058227539,
                    "y": -7.112137794494629,
                    "z": -0.020008793100714684
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004019590560346842,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -9.155304724117741e-05,
                        "pitch": 0.01142007578164339,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 9.348134881292935e-06,
                    "y": 6.17338491792907e-06,
                    "z": 0.0004018029139842838
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00018563051708042622,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0005188031936995685,
                        "pitch": 0.5704368948936462,
                        "yaw": -170.83285522460938
                    }
                },
                "velocity": {
                    "x": 1.8916725821327418e-05,
                    "y": 1.60483832587488e-05,
                    "z": 0.00018396547238808125
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029491424560547,
                "transform": {
                    "location": {
                        "x": 940.9579467773438,
                        "y": 3501.811767578125,
                        "z": 370.7500305175781
                    },
                    "rotation": {
                        "roll": 0.0119183249771595,
                        "pitch": 0.19086962938308716,
                        "yaw": 99.6106185913086
                    }
                },
                "velocity": {
                    "x": -1.3705109357833862,
                    "y": 7.911611557006836,
                    "z": 0.028805017471313477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.4572143554688,
                        "y": 3481.998046875,
                        "z": 370.6740417480469
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001170942559838295,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0009740808745846152,
                        "pitch": -0.03900037705898285,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.52195919631049e-05,
                    "y": -1.0832683074113447e-05,
                    "z": -0.001168473856523633
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012322805123403668,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 3.294366615591571e-05,
                        "pitch": -0.04394543543457985,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.4156709059752757e-06,
                    "y": 8.758017315813049e-07,
                    "z": -0.0012322778347879648
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009628739790059626,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 1.737896673148498e-05,
                        "pitch": -0.03798950836062431,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 5.5088730732677504e-06,
                    "y": -4.7148623707471415e-06,
                    "z": -0.0009628466796129942
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003797929675783962,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": 6.476174894487485e-05,
                        "pitch": -0.04626086726784706,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.6591729692881927e-05,
                    "y": 3.072287290706299e-05,
                    "z": 0.00037761314888484776
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.531717300415039,
                "transform": {
                    "location": {
                        "x": 942.5336303710938,
                        "y": 3512.075439453125,
                        "z": 370.772216796875
                    },
                    "rotation": {
                        "roll": 0.014547404833137989,
                        "pitch": -0.10107313096523285,
                        "yaw": 99.33772277832031
                    }
                },
                "velocity": {
                    "x": -1.0574616193771362,
                    "y": 6.445520401000977,
                    "z": 0.01921282708644867
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.8081353306770325,
                "transform": {
                    "location": {
                        "x": 940.2924194335938,
                        "y": 3525.888916015625,
                        "z": 370.80804443359375
                    },
                    "rotation": {
                        "roll": -0.00012206996325403452,
                        "pitch": 0.13883042335510254,
                        "yaw": 99.1679916381836
                    }
                },
                "velocity": {
                    "x": -0.12978078424930573,
                    "y": 0.7976431250572205,
                    "z": 0.0022409057710319757
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6585958003997803,
                "transform": {
                    "location": {
                        "x": 933.2427978515625,
                        "y": 3549.2265625,
                        "z": 370.856201171875
                    },
                    "rotation": {
                        "roll": 0.00020982504065614194,
                        "pitch": 0.07449004054069519,
                        "yaw": 99.31576538085938
                    }
                },
                "velocity": {
                    "x": -0.10440387576818466,
                    "y": 0.6502670049667358,
                    "z": 0.0010548114078119397
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2356027364730835,
                "transform": {
                    "location": {
                        "x": 931.6265258789062,
                        "y": 3559.265625,
                        "z": 370.8772277832031
                    },
                    "rotation": {
                        "roll": 0.0006371438503265381,
                        "pitch": 0.0037361131981015205,
                        "yaw": 99.13984680175781
                    }
                },
                "velocity": {
                    "x": -0.19622279703617096,
                    "y": 1.2199211120605469,
                    "z": 0.0017996024107560515
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.0076904296875,
                        "y": 3497.2197265625,
                        "z": 370.73052978515625
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.457356929779053,
                "transform": {
                    "location": {
                        "x": 937.9074096679688,
                        "y": 3540.707763671875,
                        "z": 370.84033203125
                    },
                    "rotation": {
                        "roll": -0.009429934434592724,
                        "pitch": 0.641744077205658,
                        "yaw": 98.9561767578125
                    }
                },
                "velocity": {
                    "x": -0.7049145102500916,
                    "y": 4.401259422302246,
                    "z": 0.0066011524759233
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3699934482574463,
                "transform": {
                    "location": {
                        "x": 935.615234375,
                        "y": 3554.9814453125,
                        "z": 370.8666687011719
                    },
                    "rotation": {
                        "roll": -0.0013427730882540345,
                        "pitch": -0.007328792475163937,
                        "yaw": 99.00887298583984
                    }
                },
                "velocity": {
                    "x": -0.3752145767211914,
                    "y": 2.340102434158325,
                    "z": 0.001813707291148603
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6781471371650696,
                "transform": {
                    "location": {
                        "x": 934.1344604492188,
                        "y": 3564.20361328125,
                        "z": 370.8779296875
                    },
                    "rotation": {
                        "roll": 0.0009917084826156497,
                        "pitch": 0.1568552851676941,
                        "yaw": 98.86893463134766
                    }
                },
                "velocity": {
                    "x": -0.10129473358392715,
                    "y": 0.6705366373062134,
                    "z": 0.0018871879437938333
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.36385440826416016,
        "expert_target_speed": 10.0,
        "target_point": [
            19.359486504332633,
            0.5429128680495405
        ],
        "target_point_next": [
            37.358403629721,
            0.7321933885818144
        ]
    },
    "600": {
        "acceleration": [
            -0.2897089719772339,
            1.8699336051940918,
            0.013819504529237747
        ],
        "angular_velocity": [
            0.22116893529891968,
            0.039937589317560196,
            0.06927936524152756
        ],
        "forward_vector": [
            -0.14902877807617188,
            0.9888272285461426,
            0.0033268865663558245
        ],
        "right_vector": [
            -0.9888326525688171,
            -0.1490299105644226,
            9.480793960392475e-05
        ],
        "location": [
            930.4849853515625,
            3569.162353515625,
            370.8774108886719
        ],
        "rotation": [
            -0.005432124715298414,
            0.1906169056892395,
            98.57069396972656
        ],
        "velocity": [
            -0.27195483446121216,
            1.7763276100158691,
            0.001990785589441657
        ],
        "speed": 1.797025100017113,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.4078483581543,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -7.135494797694264e-06,
                1.4463904562944663e-06,
                -0.0006366719026118517
            ],
            "speed_kmh": 0.0022921687069305235,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013410071842372417,
                "transform": {
                    "location": {
                        "x": 894.1619262695312,
                        "y": 3574.512451171875,
                        "z": 371.20562744140625
                    },
                    "rotation": {
                        "roll": 0.00134930363856256,
                        "pitch": -0.32061588764190674,
                        "yaw": 8.93081283569336
                    }
                },
                "velocity": {
                    "x": -0.0006963184569031,
                    "y": 0.00019402355246711522,
                    "z": -0.0011295112781226635
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012519388692453504,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0016482523642480373,
                        "pitch": 0.6695156097412109,
                        "yaw": -170.6241455078125
                    }
                },
                "velocity": {
                    "x": 4.1170493204845116e-05,
                    "y": -1.5083774997037835e-05,
                    "z": 0.0012511707609519362
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00042514692177064717,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00036621224717237055,
                        "pitch": 0.03674641624093056,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": -5.014450380258495e-06,
                    "y": 9.232805950887268e-07,
                    "z": 0.0004251163627486676
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.6982428431510925,
                "transform": {
                    "location": {
                        "x": 903.9782104492188,
                        "y": 3576.095947265625,
                        "z": 371.12164306640625
                    },
                    "rotation": {
                        "roll": -0.0044555640779435635,
                        "pitch": -0.39022916555404663,
                        "yaw": 9.719714164733887
                    }
                },
                "velocity": {
                    "x": 0.6888912916183472,
                    "y": 0.11377958208322525,
                    "z": -0.005109710618853569
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005014435737393796,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.00033264493686147034,
                        "pitch": 0.03897988796234131,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": -7.511983767471975e-06,
                    "y": 1.8129124157439946e-07,
                    "z": -0.0005013872287236154
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000553443911485374,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005355906672775745,
                        "pitch": 0.6044580340385437,
                        "yaw": -170.23873901367188
                    }
                },
                "velocity": {
                    "x": 1.9119679564028047e-05,
                    "y": 8.98340658750385e-06,
                    "z": 0.0005530405906029046
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00014594422827940434,
                "transform": {
                    "location": {
                        "x": 934.2394409179688,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00019810887170024216,
                        "pitch": 0.03892524540424347,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -3.979090706707211e-06,
                    "y": -4.622153824129782e-07,
                    "z": 0.00014588923659175634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.1719970703125,
                        "y": 3488.17236328125,
                        "z": 370.70025634765625
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.6569213867188,
                        "y": 3468.330322265625,
                        "z": 370.6170349121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009915350237861276,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00028134966851212084,
                        "pitch": 0.008694830350577831,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 4.935425295116147e-06,
                    "y": -9.63818729360355e-06,
                    "z": 0.0009914758848026395
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8823593854904175,
                "transform": {
                    "location": {
                        "x": 945.5299072265625,
                        "y": 3515.05859375,
                        "z": 370.7825012207031
                    },
                    "rotation": {
                        "roll": 0.00010204532009083778,
                        "pitch": -1.1166061162948608,
                        "yaw": -80.85533142089844
                    }
                },
                "velocity": {
                    "x": 0.2992461025714874,
                    "y": -1.8584100008010864,
                    "z": -0.006409091874957085
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0013974852627143264,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -9.155304724117741e-05,
                        "pitch": 0.01142007578164339,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 1.3861053957953118e-06,
                    "y": 1.0967586376864347e-06,
                    "z": 0.0013974840985611081
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003131878038402647,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0002746585523709655,
                        "pitch": 0.5703412294387817,
                        "yaw": -170.8328094482422
                    }
                },
                "velocity": {
                    "x": 2.284638503624592e-05,
                    "y": 5.104318006488029e-06,
                    "z": 0.0003123116912320256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.934545516967773,
                "transform": {
                    "location": {
                        "x": 940.618896484375,
                        "y": 3503.77783203125,
                        "z": 370.756591796875
                    },
                    "rotation": {
                        "roll": -0.0020446765702217817,
                        "pitch": 0.168958380818367,
                        "yaw": 99.75975036621094
                    }
                },
                "velocity": {
                    "x": -1.3257273435592651,
                    "y": 7.822969913482666,
                    "z": 0.02454235963523388
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.2191772460938,
                        "y": 3483.47705078125,
                        "z": 370.6800842285156
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005063043208792806,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.001061891089193523,
                        "pitch": -0.03906184807419777,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 6.961375220271293e-06,
                    "y": -1.776303179212846e-05,
                    "z": -0.0005059447139501572
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009237880585715175,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 3.294366615591571e-05,
                        "pitch": -0.04394543543457985,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.0730312826344743e-05,
                    "y": 6.112502887845039e-06,
                    "z": -0.0009235352044925094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006367135210894048,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 1.737896673148498e-05,
                        "pitch": -0.03798950836062431,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.135494797694264e-06,
                    "y": 1.4463904562944663e-06,
                    "z": -0.0006366719026118517
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00047437887405976653,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": 6.476174894487485e-05,
                        "pitch": -0.04626086726784706,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 6.004543320159428e-05,
                    "y": 1.0251085768686607e-05,
                    "z": 0.0004704516613855958
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.056006908416748,
                "transform": {
                    "location": {
                        "x": 942.3720703125,
                        "y": 3513.060302734375,
                        "z": 370.77947998046875
                    },
                    "rotation": {
                        "roll": 0.005166031885892153,
                        "pitch": -1.35699462890625,
                        "yaw": 99.32483673095703
                    }
                },
                "velocity": {
                    "x": -0.1702798753976822,
                    "y": 1.042186975479126,
                    "z": 0.0012357330415397882
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5784038305282593,
                "transform": {
                    "location": {
                        "x": 940.245849609375,
                        "y": 3526.1787109375,
                        "z": 370.80859375
                    },
                    "rotation": {
                        "roll": -0.0003662169328890741,
                        "pitch": 0.16081678867340088,
                        "yaw": 99.18931579589844
                    }
                },
                "velocity": {
                    "x": -0.2516669034957886,
                    "y": 1.5582093000411987,
                    "z": 0.0024878215044736862
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012026168406009674,
                "transform": {
                    "location": {
                        "x": 933.241943359375,
                        "y": 3549.231689453125,
                        "z": 370.8562927246094
                    },
                    "rotation": {
                        "roll": 0.00013766440679319203,
                        "pitch": 0.06199762225151062,
                        "yaw": 99.31400299072266
                    }
                },
                "velocity": {
                    "x": -2.3741276891087182e-05,
                    "y": -3.837469921563752e-05,
                    "z": 0.0012017699191346765
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.868940830230713,
                "transform": {
                    "location": {
                        "x": 931.561279296875,
                        "y": 3559.671142578125,
                        "z": 370.8778076171875
                    },
                    "rotation": {
                        "roll": -0.0002136235125362873,
                        "pitch": -0.017000339925289154,
                        "yaw": 99.13729095458984
                    }
                },
                "velocity": {
                    "x": -0.2967410087585449,
                    "y": 1.8452324867248535,
                    "z": 0.0013053035363554955
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.7980346679688,
                        "y": 3498.522705078125,
                        "z": 370.7349853515625
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.358677387237549,
                "transform": {
                    "location": {
                        "x": 937.7071533203125,
                        "y": 3541.958251953125,
                        "z": 370.8429870605469
                    },
                    "rotation": {
                        "roll": -0.007049566134810448,
                        "pitch": 0.5978806018829346,
                        "yaw": 99.04763793945312
                    }
                },
                "velocity": {
                    "x": -0.8497077226638794,
                    "y": 5.290871620178223,
                    "z": 0.009830741211771965
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0027191946282982826,
                "transform": {
                    "location": {
                        "x": 935.5821533203125,
                        "y": 3555.18701171875,
                        "z": 370.8666076660156
                    },
                    "rotation": {
                        "roll": -0.0002441414399072528,
                        "pitch": -0.2442338913679123,
                        "yaw": 98.9847183227539
                    }
                },
                "velocity": {
                    "x": 0.0003262482932768762,
                    "y": -0.0026450762525200844,
                    "z": 0.0005395864718593657
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8271934986114502,
                "transform": {
                    "location": {
                        "x": 934.0881958007812,
                        "y": 3564.51123046875,
                        "z": 370.8782653808594
                    },
                    "rotation": {
                        "roll": 0.002919109771028161,
                        "pitch": 0.26474493741989136,
                        "yaw": 98.85487365722656
                    }
                },
                "velocity": {
                    "x": -0.2712370753288269,
                    "y": 1.8069487810134888,
                    "z": 0.0015917109558358788
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.36380141973495483,
        "expert_target_speed": 10.0,
        "target_point": [
            18.9589444485885,
            0.53180578428206
        ],
        "target_point_next": [
            36.95796017954284,
            0.7114652368867818
        ]
    },
    "605": {
        "acceleration": [
            -0.5888283252716064,
            3.6992311477661133,
            -0.01883067935705185
        ],
        "angular_velocity": [
            0.619027853012085,
            0.13607054948806763,
            0.38790714740753174
        ],
        "forward_vector": [
            -0.1501506268978119,
            0.9886496067047119,
            0.005179501138627529
        ],
        "right_vector": [
            -0.9886627197265625,
            -0.15015335381031036,
            0.00014061293040867895
        ],
        "location": [
            930.403564453125,
            3569.69091796875,
            370.87750244140625
        ],
        "rotation": [
            -0.008056635968387127,
            0.29676488041877747,
            98.63577270507812
        ],
        "velocity": [
            -0.3878190815448761,
            2.496169328689575,
            0.001917934394441545
        ],
        "speed": 2.526116576387732,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 54.87309265136719,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                2.481679985066876e-06,
                1.4632613556386787e-06,
                -0.001368312630802393
            ],
            "speed_kmh": 0.004925936389262036,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000837973493617028,
                "transform": {
                    "location": {
                        "x": 894.16162109375,
                        "y": 3574.512451171875,
                        "z": 371.20599365234375
                    },
                    "rotation": {
                        "roll": 0.002649132162332535,
                        "pitch": -0.37249118089675903,
                        "yaw": 8.930789947509766
                    }
                },
                "velocity": {
                    "x": -5.042563861934468e-05,
                    "y": -0.00021555776766035706,
                    "z": -0.0008082027779892087
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006323622073978186,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0016482523642480373,
                        "pitch": 0.6695156097412109,
                        "yaw": -170.6241455078125
                    }
                },
                "velocity": {
                    "x": 2.4761631721048616e-05,
                    "y": -3.6735646062879823e-06,
                    "z": 0.0006318665691651404
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009289233130402863,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00036621224717237055,
                        "pitch": 0.03674641624093056,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": -7.255491709656781e-06,
                    "y": 7.195956754912913e-07,
                    "z": 0.0009288947330787778
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3544248342514038,
                "transform": {
                    "location": {
                        "x": 904.2352905273438,
                        "y": 3576.138427734375,
                        "z": 371.1199951171875
                    },
                    "rotation": {
                        "roll": -0.004730225075036287,
                        "pitch": -0.38012048602104187,
                        "yaw": 9.671113014221191
                    }
                },
                "velocity": {
                    "x": 1.3351911306381226,
                    "y": 0.2272576242685318,
                    "z": -0.009234743192791939
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4384440621361136e-05,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.00033264493686147034,
                        "pitch": 0.03897988796234131,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": 7.298252057807986e-06,
                    "y": 2.822228680088301e-06,
                    "z": -2.309483716089744e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00032502267276868224,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005685871001332998,
                        "pitch": 0.604232668876648,
                        "yaw": -170.2387237548828
                    }
                },
                "velocity": {
                    "x": 1.9151493688696064e-05,
                    "y": -4.338119197200285e-06,
                    "z": 0.0003244289546273649
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012676054029725492,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0003401171416044235,
                        "pitch": 0.03889792412519455,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 5.925132427364588e-06,
                    "y": 1.2549105576908914e-06,
                    "z": 0.0001266157632926479
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.8560791015625,
                        "y": 3490.13427734375,
                        "z": 370.7074279785156
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.4637451171875,
                        "y": 3469.53125,
                        "z": 370.6220703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004062758816871792,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00028134966851212084,
                        "pitch": 0.008694830350577831,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -1.881266689451877e-05,
                    "y": -1.0582579307083506e-05,
                    "z": 0.0004057020996697247
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.010394114069640636,
                "transform": {
                    "location": {
                        "x": 945.5396728515625,
                        "y": 3514.998046875,
                        "z": 370.7824401855469
                    },
                    "rotation": {
                        "roll": -3.05249122902751e-05,
                        "pitch": -0.7340130805969238,
                        "yaw": -80.85430145263672
                    }
                },
                "velocity": {
                    "x": -0.001580636715516448,
                    "y": 0.010099818930029869,
                    "z": 0.0018795899813994765
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0008191707311198115,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -9.155304724117741e-05,
                        "pitch": 0.01142007578164339,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -1.1049695785914082e-05,
                    "y": -6.541794846270932e-06,
                    "z": 0.0008190700900740921
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002641166211105883,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": 4.105320113012567e-05,
                        "pitch": 0.5702183246612549,
                        "yaw": -170.8328094482422
                    }
                },
                "velocity": {
                    "x": 1.7079115423257463e-05,
                    "y": 1.5096077731868718e-05,
                    "z": 0.00026313113630749285
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.976175308227539,
                "transform": {
                    "location": {
                        "x": 940.2882690429688,
                        "y": 3505.7392578125,
                        "z": 370.762451171875
                    },
                    "rotation": {
                        "roll": -0.0038452057633548975,
                        "pitch": 0.16704592108726501,
                        "yaw": 99.58704376220703
                    }
                },
                "velocity": {
                    "x": -1.3155473470687866,
                    "y": 7.8669047355651855,
                    "z": 0.022797489538788795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.0206909179688,
                        "y": 3484.7109375,
                        "z": 370.6849670410156
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.633271889062598e-05,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.001061891089193523,
                        "pitch": -0.03906184807419777,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -6.572051643161103e-05,
                    "y": -3.696995190693997e-05,
                    "z": 1.1862533938256092e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00039714088779874146,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 3.294366615591571e-05,
                        "pitch": -0.04394543543457985,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.0145274902461097e-05,
                    "y": 7.033878773654578e-06,
                    "z": -0.00039656725130043924
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013683156576007605,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.00012981196050532162,
                        "pitch": -0.03805098310112953,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.481679985066876e-06,
                    "y": 1.4632613556386787e-06,
                    "z": -0.001368312630802393
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001329548831563443,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": 0.00016478836187161505,
                        "pitch": -0.04623354971408844,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 3.340805778861977e-05,
                    "y": 1.245789917447837e-05,
                    "z": 0.00012808475003112108
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9107918739318848,
                "transform": {
                    "location": {
                        "x": 942.35546875,
                        "y": 3513.162841796875,
                        "z": 370.7774963378906
                    },
                    "rotation": {
                        "roll": 0.0035642909351736307,
                        "pitch": -0.7675424814224243,
                        "yaw": 99.32381439208984
                    }
                },
                "velocity": {
                    "x": -0.14931046962738037,
                    "y": 0.8984625935554504,
                    "z": 0.003626184305176139
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.295564651489258,
                "transform": {
                    "location": {
                        "x": 940.1686401367188,
                        "y": 3526.658447265625,
                        "z": 370.8097229003906
                    },
                    "rotation": {
                        "roll": 9.535621938994154e-05,
                        "pitch": 0.1619710922241211,
                        "yaw": 99.21513366699219
                    }
                },
                "velocity": {
                    "x": -0.36702486872673035,
                    "y": 2.2660257816314697,
                    "z": 0.006117639597505331
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5279341340065002,
                "transform": {
                    "location": {
                        "x": 933.2327880859375,
                        "y": 3549.28857421875,
                        "z": 370.856201171875
                    },
                    "rotation": {
                        "roll": 0.0009557406883686781,
                        "pitch": 0.08916811645030975,
                        "yaw": 99.31371307373047
                    }
                },
                "velocity": {
                    "x": -0.08174699544906616,
                    "y": 0.5215641260147095,
                    "z": 0.0016655921936035156
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3524101972579956,
                "transform": {
                    "location": {
                        "x": 931.5319213867188,
                        "y": 3559.856201171875,
                        "z": 370.8763122558594
                    },
                    "rotation": {
                        "roll": -0.000640867103356868,
                        "pitch": 0.18302173912525177,
                        "yaw": 99.17327880859375
                    }
                },
                "velocity": {
                    "x": -0.055822037160396576,
                    "y": 0.3479593098163605,
                    "z": 0.0010785579215735197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.66552734375,
                        "y": 3499.34521484375,
                        "z": 370.7376403808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.554718971252441,
                "transform": {
                    "location": {
                        "x": 937.4930419921875,
                        "y": 3543.291748046875,
                        "z": 370.84613037109375
                    },
                    "rotation": {
                        "roll": -0.004455559886991978,
                        "pitch": 0.33363422751426697,
                        "yaw": 99.10054779052734
                    }
                },
                "velocity": {
                    "x": -0.8821625113487244,
                    "y": 5.484214782714844,
                    "z": 0.008913621306419373
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6542249321937561,
                "transform": {
                    "location": {
                        "x": 935.5724487304688,
                        "y": 3555.24560546875,
                        "z": 370.8670654296875
                    },
                    "rotation": {
                        "roll": -0.0007019024342298508,
                        "pitch": 0.06482531875371933,
                        "yaw": 99.01099395751953
                    }
                },
                "velocity": {
                    "x": -0.10380963236093521,
                    "y": 0.6459342837333679,
                    "z": 0.00165074341930449
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.2622151374816895,
                "transform": {
                    "location": {
                        "x": 933.9940185546875,
                        "y": 3565.139892578125,
                        "z": 370.87890625
                    },
                    "rotation": {
                        "roll": 0.005177234765142202,
                        "pitch": 0.3288872539997101,
                        "yaw": 98.7291030883789
                    }
                },
                "velocity": {
                    "x": -0.4823400676250458,
                    "y": 3.2263588905334473,
                    "z": 0.0020585060119628906
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3703930675983429,
        "expert_target_speed": 10.0,
        "target_point": [
            18.42473830413114,
            0.5091523100364426
        ],
        "target_point_next": [
            36.42394637278202,
            0.6683807731477547
        ]
    },
    "610": {
        "acceleration": [
            -1.068178415298462,
            5.773305892944336,
            0.08194102346897125
        ],
        "angular_velocity": [
            1.3429547548294067,
            -0.5074620842933655,
            0.7695508003234863
        ],
        "forward_vector": [
            -0.15231876075267792,
            0.9882876873016357,
            0.009296759031713009
        ],
        "right_vector": [
            -0.9883311986923218,
            -0.15231849253177643,
            -0.0007417476153932512
        ],
        "location": [
            930.2811279296875,
            3570.473388671875,
            370.87799072265625
        ],
        "rotation": [
            0.042500849813222885,
            0.5326727628707886,
            98.76171112060547
        ],
        "velocity": [
            -0.6106634736061096,
            3.7901289463043213,
            0.012562856078147888
        ],
        "speed": 3.83900863604272,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 54.081146240234375,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                8.143942068272736e-06,
                8.775084097578656e-06,
                -0.0009992689592763782
            ],
            "speed_kmh": 0.003597626419475969,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.05955572426319122,
                "transform": {
                    "location": {
                        "x": 894.1646118164062,
                        "y": 3574.512939453125,
                        "z": 371.20611572265625
                    },
                    "rotation": {
                        "roll": 0.0011163880117237568,
                        "pitch": -0.3884601593017578,
                        "yaw": 8.93087100982666
                    }
                },
                "velocity": {
                    "x": 0.05879330635070801,
                    "y": 0.009379271417856216,
                    "z": -0.0015035533579066396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.0749539039097726e-05,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0013240997213870287,
                        "pitch": 0.6693789958953857,
                        "yaw": -170.6240234375
                    }
                },
                "velocity": {
                    "x": 1.9535795217962004e-05,
                    "y": 2.875067139029852e-06,
                    "z": 3.5645640309667215e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00047046312829479575,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00021362020925153047,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": -1.962649548659101e-05,
                    "y": 5.419738613454683e-07,
                    "z": 0.00047005325905047357
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013543495442718267,
                "transform": {
                    "location": {
                        "x": 904.34375,
                        "y": 3576.15625,
                        "z": 371.11956787109375
                    },
                    "rotation": {
                        "roll": -0.005401612725108862,
                        "pitch": -0.4772389531135559,
                        "yaw": 9.705930709838867
                    }
                },
                "velocity": {
                    "x": -0.00010401137114968151,
                    "y": -3.637956251623109e-05,
                    "z": -0.0013498595217242837
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.422976078581996e-05,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.00033264493686147034,
                        "pitch": 0.03897988796234131,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": 3.458582753523842e-08,
                    "y": 1.7106998484450742e-07,
                    "z": -3.42293169524055e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001324211771134287,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005685871001332998,
                        "pitch": 0.604232668876648,
                        "yaw": -170.2387237548828
                    }
                },
                "velocity": {
                    "x": 1.638002686377149e-05,
                    "y": -3.928485966753215e-06,
                    "z": 0.00013134545588400215
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00014313333667814732,
                "transform": {
                    "location": {
                        "x": 934.2394409179688,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00019474714645184577,
                        "pitch": 0.03890475630760193,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 1.150853904618998e-06,
                    "y": -1.1447956467236509e-06,
                    "z": 0.000143124139867723
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.5494384765625,
                        "y": 3492.040283203125,
                        "z": 370.71435546875
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.26513671875,
                        "y": 3470.764892578125,
                        "z": 370.6272888183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0014469856396317482,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00028134966851212084,
                        "pitch": 0.008694830350577831,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -9.477001185587142e-06,
                    "y": -3.5004770779778482e-06,
                    "z": 0.0014469503657892346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0031475096475332975,
                "transform": {
                    "location": {
                        "x": 945.5400390625,
                        "y": 3514.99560546875,
                        "z": 370.78265380859375
                    },
                    "rotation": {
                        "roll": -0.0003662201634142548,
                        "pitch": -0.287994921207428,
                        "yaw": -80.85426330566406
                    }
                },
                "velocity": {
                    "x": -0.0005044361460022628,
                    "y": 0.0025700910482555628,
                    "z": 0.0017455636989325285
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011479625391075388,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0005751728313043714,
                        "pitch": 0.01143373642116785,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -3.4939731108352134e-07,
                    "y": 5.499279041032423e-07,
                    "z": 0.00011479440581751987
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00039031135383993387,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": 4.105320113012567e-05,
                        "pitch": 0.5702183246612549,
                        "yaw": -170.8328094482422
                    }
                },
                "velocity": {
                    "x": 1.0025426490756217e-05,
                    "y": 5.4224301493377425e-06,
                    "z": -0.0003901449090335518
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.6429314613342285,
                "transform": {
                    "location": {
                        "x": 939.9761352539062,
                        "y": 3507.602783203125,
                        "z": 370.76690673828125
                    },
                    "rotation": {
                        "roll": -0.0007324264734052122,
                        "pitch": 0.28126034140586853,
                        "yaw": 99.51162719726562
                    }
                },
                "velocity": {
                    "x": -1.0940935611724854,
                    "y": 6.552184104919434,
                    "z": 0.019570913165807724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.8883666992188,
                        "y": 3485.533447265625,
                        "z": 370.6881103515625
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004916918114759028,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0005826522829011083,
                        "pitch": -0.03893890604376793,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 6.79108634358272e-05,
                    "y": 4.4987673391005956e-06,
                    "z": -0.0004869586555287242
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010105399414896965,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.00033569487277418375,
                        "pitch": -0.04387713223695755,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.084987275135063e-06,
                    "y": 9.80519644144806e-07,
                    "z": -0.0010105388937518
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009993406711146235,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0009179151966236532,
                        "pitch": -0.03867252916097641,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 8.143942068272736e-06,
                    "y": 8.775084097578656e-06,
                    "z": -0.0009992689592763782
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.922149699064903e-05,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": -0.0008544909069314599,
                        "pitch": -0.04581007733941078,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -3.09437709802296e-05,
                    "y": 2.055306867987383e-05,
                    "z": -1.2584921933012083e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.706089735031128,
                "transform": {
                    "location": {
                        "x": 942.3003540039062,
                        "y": 3513.498779296875,
                        "z": 370.7751770019531
                    },
                    "rotation": {
                        "roll": 0.002128060907125473,
                        "pitch": 0.10500732064247131,
                        "yaw": 99.32052612304688
                    }
                },
                "velocity": {
                    "x": -0.27634167671203613,
                    "y": 1.6835507154464722,
                    "z": 0.005853442940860987
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0979297161102295,
                "transform": {
                    "location": {
                        "x": 940.060546875,
                        "y": 3527.32861328125,
                        "z": 370.8115234375
                    },
                    "rotation": {
                        "roll": 0.0006584154907613993,
                        "pitch": 0.1620052456855774,
                        "yaw": 99.23117065429688
                    }
                },
                "velocity": {
                    "x": -0.49327921867370605,
                    "y": 3.058398485183716,
                    "z": 0.006476573646068573
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2356715202331543,
                "transform": {
                    "location": {
                        "x": 933.197021484375,
                        "y": 3549.512939453125,
                        "z": 370.8564758300781
                    },
                    "rotation": {
                        "roll": 0.0004979741643182933,
                        "pitch": 0.09613490849733353,
                        "yaw": 99.3494644165039
                    }
                },
                "velocity": {
                    "x": -0.19693191349506378,
                    "y": 1.2198761701583862,
                    "z": 0.0019768427591770887
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2184011936187744,
                "transform": {
                    "location": {
                        "x": 931.4993286132812,
                        "y": 3560.0615234375,
                        "z": 370.8780822753906
                    },
                    "rotation": {
                        "roll": 8.727583917789161e-05,
                        "pitch": -0.0020490565802901983,
                        "yaw": 99.20893096923828
                    }
                },
                "velocity": {
                    "x": -0.19414691627025604,
                    "y": 1.2028318643569946,
                    "z": 0.001982946414500475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.4669799804688,
                        "y": 3500.579345703125,
                        "z": 370.7414855957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.534870982170105,
                "transform": {
                    "location": {
                        "x": 937.3295288085938,
                        "y": 3544.32373046875,
                        "z": 370.8515930175781
                    },
                    "rotation": {
                        "roll": 0.00026829540729522705,
                        "pitch": -0.7619895339012146,
                        "yaw": 99.361328125
                    }
                },
                "velocity": {
                    "x": -0.23230554163455963,
                    "y": 1.5171887874603271,
                    "z": 0.0012338542146608233
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5513043403625488,
                "transform": {
                    "location": {
                        "x": 935.5293579101562,
                        "y": 3555.514404296875,
                        "z": 370.8675842285156
                    },
                    "rotation": {
                        "roll": 0.00018646374519448727,
                        "pitch": 0.18070630729198456,
                        "yaw": 99.0434799194336
                    }
                },
                "velocity": {
                    "x": -0.24595719575881958,
                    "y": 1.5316812992095947,
                    "z": 0.001641015987843275
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.753958225250244,
                "transform": {
                    "location": {
                        "x": 933.8440551757812,
                        "y": 3566.146728515625,
                        "z": 370.87982177734375
                    },
                    "rotation": {
                        "roll": 0.006429428234696388,
                        "pitch": 0.35952746868133545,
                        "yaw": 98.58988952636719
                    }
                },
                "velocity": {
                    "x": -0.6987358927726746,
                    "y": 4.702327251434326,
                    "z": 0.0029144668951630592
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.36412280797958374,
        "expert_target_speed": 10.0,
        "target_point": [
            17.633823132281783,
            0.46683602082474396
        ],
        "target_point_next": [
            35.63333770361934,
            0.5865022159617199
        ]
    },
    "615": {
        "acceleration": [
            -1.059490442276001,
            6.025362014770508,
            0.13607636094093323
        ],
        "angular_velocity": [
            1.578259825706482,
            0.29956600069999695,
            1.1607370376586914
        ],
        "forward_vector": [
            -0.1565881222486496,
            0.9875431060791016,
            0.015453794039785862
        ],
        "right_vector": [
            -0.9876636862754822,
            -0.1565801352262497,
            -0.0017324057407677174
        ],
        "location": [
            930.0980834960938,
            3571.6083984375,
            370.8834533691406
        ],
        "rotation": [
            0.09927143901586533,
            0.8854724764823914,
            99.01000213623047
        ],
        "velocity": [
            -0.8561282157897949,
            5.227189064025879,
            0.039800290018320084
        ],
        "speed": 5.296835001483731,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 52.931495666503906,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -4.181489202892408e-06,
                9.091710353459348e-07,
                -0.0001511707523604855
            ],
            "speed_kmh": 0.0005444327003942379,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0021475390531122684,
                "transform": {
                    "location": {
                        "x": 894.2249755859375,
                        "y": 3574.5234375,
                        "z": 371.20562744140625
                    },
                    "rotation": {
                        "roll": 0.0011713452404364944,
                        "pitch": -0.3956250250339508,
                        "yaw": 8.883106231689453
                    }
                },
                "velocity": {
                    "x": 0.0012625199742615223,
                    "y": 2.8722137358272448e-05,
                    "z": 0.001736992271617055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000867087219376117,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0016229976899921894,
                        "pitch": 0.6694678068161011,
                        "yaw": -170.6240234375
                    }
                },
                "velocity": {
                    "x": 3.200292485416867e-05,
                    "y": 1.7618573338040733e-06,
                    "z": 0.0008664946653880179
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011534425721038133,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00021362020925153047,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": -3.1494359973294195e-06,
                    "y": 1.0884832590818405e-06,
                    "z": 0.00011529611219884828
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00022687979799229652,
                "transform": {
                    "location": {
                        "x": 904.3440551757812,
                        "y": 3576.15625,
                        "z": 371.1192626953125
                    },
                    "rotation": {
                        "roll": -0.004913330543786287,
                        "pitch": -0.4378082752227783,
                        "yaw": 9.705894470214844
                    }
                },
                "velocity": {
                    "x": -8.260383765446022e-06,
                    "y": -0.00020440854132175446,
                    "z": -9.809871698962525e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003263795224484056,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.00028168034623377025,
                        "pitch": 0.03900720924139023,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": -3.7395348044810817e-06,
                    "y": -4.557869488053257e-06,
                    "z": -0.0003263262624386698
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.243425478809513e-05,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005685871001332998,
                        "pitch": 0.604232668876648,
                        "yaw": -170.2387237548828
                    }
                },
                "velocity": {
                    "x": 1.7828344425652176e-05,
                    "y": -1.564901253914286e-06,
                    "z": 1.3527639566746075e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003204063687007874,
                "transform": {
                    "location": {
                        "x": 934.2394409179688,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 3.2048199500422925e-05,
                        "pitch": 0.03904819115996361,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 1.6981270164251328e-05,
                    "y": 6.639640560024418e-06,
                    "z": 0.0003198871563654393
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.2974853515625,
                        "y": 3493.606689453125,
                        "z": 370.7200012207031
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.1328125,
                        "y": 3471.58740234375,
                        "z": 370.6307678222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006935863639228046,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00028134966851212084,
                        "pitch": 0.008694830350577831,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 1.8400211047264747e-05,
                    "y": -2.1774756078229984e-06,
                    "z": 0.0006933388067409396
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.5401611328125,
                        "y": 3514.994873046875,
                        "z": 370.78271484375
                    },
                    "rotation": {
                        "roll": -0.0002746567770373076,
                        "pitch": -0.2094135880470276,
                        "yaw": -80.85430145263672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0012583951465785503,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004103499522898346,
                        "pitch": 0.011536188423633575,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 3.55673250851396e-07,
                    "y": -1.0211035259999335e-05,
                    "z": 0.00125835370272398
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9941227694507688e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0010375997517257929,
                        "pitch": 0.5702114701271057,
                        "yaw": -170.83270263671875
                    }
                },
                "velocity": {
                    "x": 1.6937925465754233e-05,
                    "y": 1.248298190148489e-06,
                    "z": 2.4658174879732542e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.16444730758667,
                "transform": {
                    "location": {
                        "x": 939.7188110351562,
                        "y": 3509.15283203125,
                        "z": 370.77191162109375
                    },
                    "rotation": {
                        "roll": -0.0037841827142983675,
                        "pitch": 0.23245181143283844,
                        "yaw": 99.43514251708984
                    }
                },
                "velocity": {
                    "x": -0.9979273676872253,
                    "y": 6.083113193511963,
                    "z": 0.01696494035422802
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.6897583007812,
                        "y": 3486.76708984375,
                        "z": 370.6927795410156
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002514315419830382,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0007406771183013916,
                        "pitch": -0.03902769833803177,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.0024830771726556e-05,
                    "y": 1.1200415428902488e-05,
                    "z": -0.00025098182959482074
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004967022687196732,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 0.00029091842588968575,
                        "pitch": -0.04387713223695755,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -9.734532113725436e-07,
                    "y": 1.4178315268509323e-06,
                    "z": -0.0004966993001289666
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015123130287975073,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0009179151966236532,
                        "pitch": -0.03867252916097641,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -4.181489202892408e-06,
                    "y": 9.091710353459348e-07,
                    "z": -0.0001511707523604855
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.9634823022206547e-06,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": -0.0005798358470201492,
                        "pitch": -0.04571445286273956,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.8410693175828783e-07,
                    "y": 2.9486091079888865e-06,
                    "z": 8.494038183926023e-08
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.8530609607696533,
                "transform": {
                    "location": {
                        "x": 942.2081909179688,
                        "y": 3514.06396484375,
                        "z": 370.77557373046875
                    },
                    "rotation": {
                        "roll": 0.004020927473902702,
                        "pitch": 0.46815478801727295,
                        "yaw": 99.30143737792969
                    }
                },
                "velocity": {
                    "x": -0.4578979015350342,
                    "y": 2.8160674571990967,
                    "z": 0.007189626339823008
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.830693483352661,
                "transform": {
                    "location": {
                        "x": 939.9219360351562,
                        "y": 3528.1875,
                        "z": 370.8135070800781
                    },
                    "rotation": {
                        "roll": 7.470549121535441e-07,
                        "pitch": 0.1616227626800537,
                        "yaw": 99.20068359375
                    }
                },
                "velocity": {
                    "x": -0.6090049743652344,
                    "y": 3.781961679458618,
                    "z": 0.00959247536957264
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.108856678009033,
                "transform": {
                    "location": {
                        "x": 933.1295166015625,
                        "y": 3549.9306640625,
                        "z": 370.8570251464844
                    },
                    "rotation": {
                        "roll": 0.0014988749753683805,
                        "pitch": 0.09504890441894531,
                        "yaw": 99.34066772460938
                    }
                },
                "velocity": {
                    "x": -0.33526530861854553,
                    "y": 2.0820343494415283,
                    "z": 0.002576217520982027
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0989272594451904,
                "transform": {
                    "location": {
                        "x": 931.4331665039062,
                        "y": 3560.472412109375,
                        "z": 370.8786926269531
                    },
                    "rotation": {
                        "roll": -6.103482155594975e-05,
                        "pitch": -0.032252151519060135,
                        "yaw": 99.1963882446289
                    }
                },
                "velocity": {
                    "x": -0.33283302187919617,
                    "y": 2.072369337081909,
                    "z": 0.0017143820878118277
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.3345947265625,
                        "y": 3501.40185546875,
                        "z": 370.744140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5185941457748413,
                "transform": {
                    "location": {
                        "x": 937.3204956054688,
                        "y": 3544.38232421875,
                        "z": 370.85186767578125
                    },
                    "rotation": {
                        "roll": -0.015685999765992165,
                        "pitch": -0.8365136981010437,
                        "yaw": 99.38174438476562
                    }
                },
                "velocity": {
                    "x": -0.08536840975284576,
                    "y": 0.5115165710449219,
                    "z": 0.0017080687684938312
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5724923610687256,
                "transform": {
                    "location": {
                        "x": 935.4461669921875,
                        "y": 3556.0302734375,
                        "z": 370.86822509765625
                    },
                    "rotation": {
                        "roll": -0.0018005480524152517,
                        "pitch": 0.21689264476299286,
                        "yaw": 99.13990020751953
                    }
                },
                "velocity": {
                    "x": -0.40951281785964966,
                    "y": 2.539687395095825,
                    "z": 0.0019995688926428556
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.428493499755859,
                "transform": {
                    "location": {
                        "x": 933.669189453125,
                        "y": 3567.326904296875,
                        "z": 370.8807373046875
                    },
                    "rotation": {
                        "roll": 0.0022764429450035095,
                        "pitch": 0.08164124935865402,
                        "yaw": 98.48978424072266
                    }
                },
                "velocity": {
                    "x": -0.6475083827972412,
                    "y": 4.380897045135498,
                    "z": 0.005218105390667915
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3452918231487274,
        "expert_target_speed": 10.0,
        "target_point": [
            16.48600975988486,
            0.3873759041326701
        ],
        "target_point_next": [
            34.48587390464852,
            0.42903610219987875
        ]
    },
    "620": {
        "acceleration": [
            -1.7059481143951416,
            9.231863021850586,
            0.09048886597156525
        ],
        "angular_velocity": [
            2.267280340194702,
            0.43768376111984253,
            1.3053350448608398
        ],
        "forward_vector": [
            -0.16190551221370697,
            0.9866621494293213,
            0.01686159148812294
        ],
        "right_vector": [
            -0.9868050217628479,
            -0.1619080752134323,
            -0.001222374732606113
        ],
        "location": [
            929.8716430664062,
            3572.97802734375,
            370.892578125
        ],
        "rotation": [
            0.07004689425230026,
            0.9661438465118408,
            99.31885528564453
        ],
        "velocity": [
            -0.9931714534759521,
            5.896020412445068,
            0.04027143493294716
        ],
        "speed": 5.979084063631189,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 51.543277740478516,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -7.158335392887238e-06,
                -3.456100785115268e-06,
                -0.0006887710187584162
            ],
            "speed_kmh": 0.0024797407902297846,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0018097577849403024,
                "transform": {
                    "location": {
                        "x": 894.2251586914062,
                        "y": 3574.5234375,
                        "z": 371.20550537109375
                    },
                    "rotation": {
                        "roll": 0.001571046537719667,
                        "pitch": -0.37145981192588806,
                        "yaw": 8.883089065551758
                    }
                },
                "velocity": {
                    "x": -4.717215779237449e-05,
                    "y": -0.00014041892427485436,
                    "z": 0.0018036853289231658
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000265274487901479,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0012557097943499684,
                        "pitch": 0.6693448424339294,
                        "yaw": -170.62391662597656
                    }
                },
                "velocity": {
                    "x": 2.4388282326981425e-05,
                    "y": -4.6251152525655925e-06,
                    "z": 0.0002641105093061924
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005847527063451707,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00021362020925153047,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": 9.265267181035597e-06,
                    "y": 2.072537199637736e-06,
                    "z": 0.0005846756394021213
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013079412747174501,
                "transform": {
                    "location": {
                        "x": 904.3440551757812,
                        "y": 3576.15625,
                        "z": 371.11920166015625
                    },
                    "rotation": {
                        "roll": -0.0034484846983104944,
                        "pitch": -0.42907246947288513,
                        "yaw": 9.705867767333984
                    }
                },
                "velocity": {
                    "x": -2.2580474251299165e-05,
                    "y": 0.00012903736205771565,
                    "z": 0.0013013646239414811
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.214471457293257e-05,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.00028168034623377025,
                        "pitch": 0.03900720924139023,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": 1.084407267626375e-05,
                    "y": 4.22927541876561e-06,
                    "z": -5.082903226139024e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.466367707005702e-05,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005756044760346413,
                        "pitch": 0.6043282747268677,
                        "yaw": -170.2385711669922
                    }
                },
                "velocity": {
                    "x": 2.052299714705441e-05,
                    "y": -4.020035248686327e-06,
                    "z": -2.7644466172205284e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.61911690258421e-05,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00034445771598257124,
                        "pitch": 0.03897988796234131,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -2.9756108688161476e-06,
                    "y": 7.880599696363788e-06,
                    "z": 6.565297371707857e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.0430297851562,
                        "y": 3495.1875,
                        "z": 370.7253723144531
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.9342041015625,
                        "y": 3472.8212890625,
                        "z": 370.63592529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001669297635089606,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00028134966851212084,
                        "pitch": 0.008694830350577831,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 2.7271382805338362e-06,
                    "y": 1.3634788729177671e-06,
                    "z": 0.00016690192569512874
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.5401611328125,
                        "y": 3514.994873046875,
                        "z": 370.78271484375
                    },
                    "rotation": {
                        "roll": -0.0002746567770373076,
                        "pitch": -0.2094135880470276,
                        "yaw": -80.85430145263672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00043619153439067304,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004103499522898346,
                        "pitch": 0.011536188423633575,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -2.2855667793919565e-06,
                    "y": 1.779557123882114e-06,
                    "z": 0.0004361819301266223
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.115103027084842e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0001525895786471665,
                        "pitch": 0.5701500177383423,
                        "yaw": -170.83267211914062
                    }
                },
                "velocity": {
                    "x": 1.6626565411570482e-05,
                    "y": 2.920357474067714e-06,
                    "z": 2.6180443455814384e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.919366836547852,
                "transform": {
                    "location": {
                        "x": 939.4557495117188,
                        "y": 3510.75439453125,
                        "z": 370.7774658203125
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.11312158405780792,
                        "yaw": 99.35028839111328
                    }
                },
                "velocity": {
                    "x": -1.1171138286590576,
                    "y": 6.8285698890686035,
                    "z": 0.017957057803869247
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.5573120117188,
                        "y": 3487.58984375,
                        "z": 370.6959228515625
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007729976205155253,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.000808211974799633,
                        "pitch": -0.03893890604376793,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.6180012607946992e-05,
                    "y": 2.1790478058392182e-05,
                    "z": -0.000772520957980305
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008826196426525712,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.00027465837774798274,
                        "pitch": -0.04387713223695755,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.3866966583009344e-05,
                    "y": -4.925429493596312e-06,
                    "z": -0.0008824969409033656
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000688816886395216,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0007453378639183939,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.158335392887238e-06,
                    "y": -3.456100785115268e-06,
                    "z": -0.0006887710187584162
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003008708590641618,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": -0.0012817380484193563,
                        "pitch": -0.0455641895532608,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.00011338081094436347,
                    "y": -8.111888018902391e-05,
                    "z": 0.0002666229265742004
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.268430709838867,
                "transform": {
                    "location": {
                        "x": 942.063232421875,
                        "y": 3514.954833984375,
                        "z": 370.7772521972656
                    },
                    "rotation": {
                        "roll": 0.003984127193689346,
                        "pitch": 0.686611533164978,
                        "yaw": 99.26954650878906
                    }
                },
                "velocity": {
                    "x": -0.6842858791351318,
                    "y": 4.213210582733154,
                    "z": 0.010623416863381863
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.565638542175293,
                "transform": {
                    "location": {
                        "x": 939.7543334960938,
                        "y": 3529.226806640625,
                        "z": 370.8162841796875
                    },
                    "rotation": {
                        "roll": 2.2745152818970382e-06,
                        "pitch": 0.16086460649967194,
                        "yaw": 99.1744155883789
                    }
                },
                "velocity": {
                    "x": -0.7253134250640869,
                    "y": 4.507645606994629,
                    "z": 0.010416231118142605
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7907980680465698,
                "transform": {
                    "location": {
                        "x": 933.0486450195312,
                        "y": 3550.43017578125,
                        "z": 370.85784912109375
                    },
                    "rotation": {
                        "roll": 0.0002511263592168689,
                        "pitch": 0.06938105821609497,
                        "yaw": 99.28961181640625
                    }
                },
                "velocity": {
                    "x": -0.2842130661010742,
                    "y": 1.7680999040603638,
                    "z": 0.001809673267416656
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.965235471725464,
                "transform": {
                    "location": {
                        "x": 931.3324584960938,
                        "y": 3561.0986328125,
                        "z": 370.87933349609375
                    },
                    "rotation": {
                        "roll": -0.0005493167554959655,
                        "pitch": -0.037566039711236954,
                        "yaw": 99.17668914794922
                    }
                },
                "velocity": {
                    "x": -0.47028812766075134,
                    "y": 2.9277031421661377,
                    "z": 0.002272758400067687
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.1360473632812,
                        "y": 3502.635498046875,
                        "z": 370.74810791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4036282300949097,
                "transform": {
                    "location": {
                        "x": 937.278076171875,
                        "y": 3544.643310546875,
                        "z": 370.84918212890625
                    },
                    "rotation": {
                        "roll": -0.003509524278342724,
                        "pitch": 0.045598339289426804,
                        "yaw": 99.37629699707031
                    }
                },
                "velocity": {
                    "x": -0.22539617121219635,
                    "y": 1.3854115009307861,
                    "z": 0.00196387292817235
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.958543539047241,
                "transform": {
                    "location": {
                        "x": 935.3167724609375,
                        "y": 3556.831787109375,
                        "z": 370.8691711425781
                    },
                    "rotation": {
                        "roll": -0.0009460450382903218,
                        "pitch": 0.26976513862609863,
                        "yaw": 99.15876770019531
                    }
                },
                "velocity": {
                    "x": -0.6306043267250061,
                    "y": 3.9079902172088623,
                    "z": 0.004218683112412691
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.5085039138793945,
                "transform": {
                    "location": {
                        "x": 933.5291748046875,
                        "y": 3568.39013671875,
                        "z": 370.8817443847656
                    },
                    "rotation": {
                        "roll": 0.16263212263584137,
                        "pitch": 0.058056604117155075,
                        "yaw": 97.76750946044922
                    }
                },
                "velocity": {
                    "x": -0.393048495054245,
                    "y": 4.491335868835449,
                    "z": 0.004493141081184149
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3278842568397522,
        "expert_target_speed": 10.0,
        "target_point": [
            15.099638113997948,
            0.2968269793141829
        ],
        "target_point_next": [
            33.09946529098732,
            0.24145188954800467
        ]
    },
    "625": {
        "acceleration": [
            -0.9756708145141602,
            7.408275604248047,
            0.5974138975143433
        ],
        "angular_velocity": [
            0.6137781739234924,
            5.123412609100342,
            1.6837226152420044
        ],
        "forward_vector": [
            -0.1668781340122223,
            0.9856968522071838,
            0.02352568879723549
        ],
        "right_vector": [
            -0.9859668612480164,
            -0.1669396460056305,
            0.0006624106899835169
        ],
        "location": [
            929.5770263671875,
            3574.7041015625,
            370.9075622558594
        ],
        "rotation": [
            -0.03796384483575821,
            1.3480470180511475,
            99.60903930664062
        ],
        "velocity": [
            -1.326032042503357,
            7.822103500366211,
            0.10293332487344742
        ],
        "speed": 7.933704314391037,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 49.79225540161133,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                3.331170773890335e-06,
                -4.021962922706734e-06,
                -0.00020837600459344685
            ],
            "speed_kmh": 0.0007503891690219603,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021477554400917143,
                "transform": {
                    "location": {
                        "x": 894.2250366210938,
                        "y": 3574.5234375,
                        "z": 371.20562744140625
                    },
                    "rotation": {
                        "roll": 0.0027809825260192156,
                        "pitch": -0.3821968734264374,
                        "yaw": 8.883069038391113
                    }
                },
                "velocity": {
                    "x": 1.0333210411772598e-06,
                    "y": -1.0261376701237168e-05,
                    "z": -0.00021452778310049325
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008248347439803183,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.00187149946577847,
                        "pitch": 0.6695224046707153,
                        "yaw": -170.6239013671875
                    }
                },
                "velocity": {
                    "x": 2.672649861779064e-05,
                    "y": 1.0040485904028174e-05,
                    "z": 0.0008243405027315021
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00018228621047455817,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00021362020925153047,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": 2.4439882508886512e-06,
                    "y": -4.100040314369835e-06,
                    "z": 0.00018222370999865234
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00042920518899336457,
                "transform": {
                    "location": {
                        "x": 904.3440551757812,
                        "y": 3576.15625,
                        "z": 371.1191711425781
                    },
                    "rotation": {
                        "roll": -0.004943846724927425,
                        "pitch": -0.4273034334182739,
                        "yaw": 9.705864906311035
                    }
                },
                "velocity": {
                    "x": 1.375213196297409e-05,
                    "y": 6.927177054194544e-08,
                    "z": -0.0004289848147891462
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003349615726619959,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.00028168034623377025,
                        "pitch": 0.03900720924139023,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": -7.106705197656993e-06,
                    "y": -6.489115548902191e-06,
                    "z": -0.00033482330036349595
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00035049105645157397,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005756044760346413,
                        "pitch": 0.6043282747268677,
                        "yaw": -170.2385711669922
                    }
                },
                "velocity": {
                    "x": 1.8102302419720218e-05,
                    "y": 1.597585105628241e-05,
                    "z": 0.0003496584831736982
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1385212676250376e-05,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0004028244875371456,
                        "pitch": 0.03897988796234131,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -5.698685981769813e-06,
                    "y": 9.373575267090928e-07,
                    "z": 2.0590621716110036e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.7559204101562,
                        "y": 3496.970947265625,
                        "z": 370.7314453125
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.8018798828125,
                        "y": 3473.64404296875,
                        "z": 370.6392822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0011607675114646554,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00028134966851212084,
                        "pitch": 0.008694830350577831,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -3.1033296181703918e-06,
                    "y": 1.2648401934711728e-06,
                    "z": 0.0011607626220211387
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.5401611328125,
                        "y": 3514.994873046875,
                        "z": 370.78271484375
                    },
                    "rotation": {
                        "roll": -0.0002746567770373076,
                        "pitch": -0.2094135880470276,
                        "yaw": -80.85430145263672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0014420183142647147,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004103499522898346,
                        "pitch": 0.011536188423633575,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 3.821624886768404e-06,
                    "y": 2.120485305567854e-06,
                    "z": 0.0014420116785913706
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.6721943110460415e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0001525895786471665,
                        "pitch": 0.5701500177383423,
                        "yaw": -170.83267211914062
                    }
                },
                "velocity": {
                    "x": 1.750849150994327e-05,
                    "y": -4.118550350540318e-06,
                    "z": -5.379469439503737e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.31377124786377,
                "transform": {
                    "location": {
                        "x": 939.1565551757812,
                        "y": 3512.5791015625,
                        "z": 370.78338623046875
                    },
                    "rotation": {
                        "roll": 0.0015247663250193,
                        "pitch": 0.00443962262943387,
                        "yaw": 99.3149185180664
                    }
                },
                "velocity": {
                    "x": -1.3455474376678467,
                    "y": 8.204133033752441,
                    "z": 0.022256765514612198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.3589477539062,
                        "y": 3488.82373046875,
                        "z": 370.7007751464844
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008733083959668875,
                "transform": {
                    "location": {
                        "x": 924.6840209960938,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0017467511352151632,
                        "pitch": -0.03869301825761795,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -4.2173702240688726e-05,
                    "y": 3.4449994927854277e-06,
                    "z": -0.0008722826605662704
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007262975559569895,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.00012207299005240202,
                        "pitch": -0.04400690644979477,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.1825235191054162e-07,
                    "y": 1.2995722045161529e-06,
                    "z": -0.0007262963918037713
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00020844144455622882,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": -9.155223233392462e-05,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 3.331170773890335e-06,
                    "y": -4.021962922706734e-06,
                    "z": -0.00020837600459344685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003032483218703419,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": -0.000793457729741931,
                        "pitch": -0.04596034064888954,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -8.336981409229338e-06,
                    "y": -5.488702754519181e-07,
                    "z": -0.0003031332162208855
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.396536827087402,
                "transform": {
                    "location": {
                        "x": 941.8656005859375,
                        "y": 3516.171875,
                        "z": 370.7806701660156
                    },
                    "rotation": {
                        "roll": 0.003235041629523039,
                        "pitch": 0.7174839973449707,
                        "yaw": 99.24313354492188
                    }
                },
                "velocity": {
                    "x": -0.8641601204872131,
                    "y": 5.3268723487854,
                    "z": 0.0164595115929842
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.187276363372803,
                "transform": {
                    "location": {
                        "x": 939.557373046875,
                        "y": 3530.450927734375,
                        "z": 370.81964111328125
                    },
                    "rotation": {
                        "roll": 0.0006549536483362317,
                        "pitch": 0.16076216101646423,
                        "yaw": 99.18562316894531
                    }
                },
                "velocity": {
                    "x": -0.8255938291549683,
                    "y": 5.121135234832764,
                    "z": 0.014319648034870625
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.157680034637451,
                "transform": {
                    "location": {
                        "x": 932.96826171875,
                        "y": 3550.9287109375,
                        "z": 370.8585205078125
                    },
                    "rotation": {
                        "roll": 0.0010942717781290412,
                        "pitch": 0.07155989110469818,
                        "yaw": 99.24945831298828
                    }
                },
                "velocity": {
                    "x": -0.34238532185554504,
                    "y": 2.130340576171875,
                    "z": 0.0021504019387066364
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.066028594970703,
                "transform": {
                    "location": {
                        "x": 931.1925659179688,
                        "y": 3561.96875,
                        "z": 370.88031005859375
                    },
                    "rotation": {
                        "roll": -0.00039672807906754315,
                        "pitch": -0.05417022854089737,
                        "yaw": 99.15934753417969
                    }
                },
                "velocity": {
                    "x": -0.6449413299560547,
                    "y": 4.014553070068359,
                    "z": 0.0019824791233986616
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.0037231445312,
                        "y": 3503.4580078125,
                        "z": 370.7507629394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.285703659057617,
                "transform": {
                    "location": {
                        "x": 937.2039794921875,
                        "y": 3545.100341796875,
                        "z": 370.84881591796875
                    },
                    "rotation": {
                        "roll": 0.0010722791776061058,
                        "pitch": 0.3467618525028229,
                        "yaw": 99.32292175292969
                    }
                },
                "velocity": {
                    "x": -0.36527758836746216,
                    "y": 2.256326198577881,
                    "z": 0.002426633844152093
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.631091594696045,
                "transform": {
                    "location": {
                        "x": 935.1357421875,
                        "y": 3557.953125,
                        "z": 370.8703918457031
                    },
                    "rotation": {
                        "roll": -0.0007324290345422924,
                        "pitch": 0.20526766777038574,
                        "yaw": 99.16693115234375
                    }
                },
                "velocity": {
                    "x": -0.7377293109893799,
                    "y": 4.571951389312744,
                    "z": 0.005195503123104572
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.343066215515137,
                "transform": {
                    "location": {
                        "x": 933.4425048828125,
                        "y": 3569.65576171875,
                        "z": 370.88323974609375
                    },
                    "rotation": {
                        "roll": 0.14086328446865082,
                        "pitch": 0.18544645607471466,
                        "yaw": 95.17475128173828
                    }
                },
                "velocity": {
                    "x": -0.3154468238353729,
                    "y": 5.333743572235107,
                    "z": 0.0054358383640646935
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23763716220855713,
        "expert_target_speed": 8.523736386230112,
        "target_point": [
            13.349912147695258,
            0.2179922736390898
        ],
        "target_point_next": [
            31.349228040846853,
            0.07145838475254429
        ]
    },
    "630": {
        "acceleration": [
            -0.4813551902770996,
            2.9025650024414062,
            0.03718741238117218
        ],
        "angular_velocity": [
            -2.350069046020508,
            0.04654592275619507,
            0.25692540407180786
        ],
        "forward_vector": [
            -0.16939082741737366,
            0.98543381690979,
            0.015064979903399944
        ],
        "right_vector": [
            -0.9855307936668396,
            -0.16946066915988922,
            0.0034776870161294937
        ],
        "location": [
            929.2080078125,
            3576.856689453125,
            370.92303466796875
        ],
        "rotation": [
            -0.1992798000574112,
            0.8631924390792847,
            99.7535171508789
        ],
        "velocity": [
            -1.555675745010376,
            9.049060821533203,
            0.04261820763349533
        ],
        "speed": 9.181809667784492,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 47.60829162597656,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -1.591172804182861e-05,
                -8.007548785826657e-06,
                -0.0008933100616559386
            ],
            "speed_kmh": 0.0032165555188067444,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003715108905453235,
                "transform": {
                    "location": {
                        "x": 894.2250366210938,
                        "y": 3574.5234375,
                        "z": 371.2056579589844
                    },
                    "rotation": {
                        "roll": 0.0016045734519138932,
                        "pitch": -0.38391125202178955,
                        "yaw": 8.883058547973633
                    }
                },
                "velocity": {
                    "x": 6.191432078139769e-08,
                    "y": 7.599216769449413e-05,
                    "z": -0.0003636557958088815
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002105292514897883,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0016907805111259222,
                        "pitch": 0.6692765355110168,
                        "yaw": -170.6238555908203
                    }
                },
                "velocity": {
                    "x": 1.97533518075943e-05,
                    "y": -1.085886742657749e-05,
                    "z": 0.00020931904145982116
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000712831097189337,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00021362020925153047,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": 4.570358214550652e-06,
                    "y": -3.0617602533311583e-06,
                    "z": 0.0007128099096007645
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009178649634122849,
                "transform": {
                    "location": {
                        "x": 904.3441162109375,
                        "y": 3576.15625,
                        "z": 371.1191711425781
                    },
                    "rotation": {
                        "roll": -0.005371094681322575,
                        "pitch": -0.4260808229446411,
                        "yaw": 9.70583438873291
                    }
                },
                "velocity": {
                    "x": 6.19441243543406e-06,
                    "y": 3.3732587326085195e-05,
                    "z": 0.0009172239806503057
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00014665441995020956,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.00028168034623377025,
                        "pitch": 0.03900720924139023,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": 1.1385185416656896e-07,
                    "y": 8.21134563011583e-06,
                    "z": -0.0001464243105147034
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.356733062304556e-05,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.004852982237935066,
                        "pitch": 0.6039525866508484,
                        "yaw": -170.23855590820312
                    }
                },
                "velocity": {
                    "x": 1.4620721231040079e-05,
                    "y": 1.4459090380114503e-05,
                    "z": 9.127987141255289e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00017235700215678662,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0004028244875371456,
                        "pitch": 0.03897988796234131,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 2.8107767775509274e-06,
                    "y": -4.05948594561778e-06,
                    "z": 0.00017228626529686153
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.42529296875,
                        "y": 3499.02587890625,
                        "z": 370.73834228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.603271484375,
                        "y": 3474.877685546875,
                        "z": 370.64447021484375
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004701262805610895,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00028134966851212084,
                        "pitch": 0.008694830350577831,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 3.3247831652261084e-06,
                    "y": 1.3376809420151403e-06,
                    "z": 0.00047011260176077485
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.5401611328125,
                        "y": 3514.994873046875,
                        "z": 370.78271484375
                    },
                    "rotation": {
                        "roll": -0.0002746567770373076,
                        "pitch": -0.2094135880470276,
                        "yaw": -80.85430145263672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0007590717868879437,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004103499522898346,
                        "pitch": 0.011536188423633575,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -7.092610303516267e-06,
                    "y": -3.82567532142275e-06,
                    "z": 0.0007590290624648333
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.888994590146467e-05,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0001525895786471665,
                        "pitch": 0.5701500177383423,
                        "yaw": -170.83267211914062
                    }
                },
                "velocity": {
                    "x": 1.6966834664344788e-05,
                    "y": 2.8061306238669204e-06,
                    "z": 4.5765478716930375e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.264425277709961,
                "transform": {
                    "location": {
                        "x": 938.8167114257812,
                        "y": 3514.659912109375,
                        "z": 370.7881164550781
                    },
                    "rotation": {
                        "roll": -0.0029296916909515858,
                        "pitch": 0.13053856790065765,
                        "yaw": 99.26727294921875
                    }
                },
                "velocity": {
                    "x": -1.3227345943450928,
                    "y": 8.157855987548828,
                    "z": 0.022011995315551758
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.2265625,
                        "y": 3489.646240234375,
                        "z": 370.7037353515625
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001266395702259615,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0012496364070102572,
                        "pitch": -0.03869301825761795,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.00011696916044456884,
                    "y": 9.952045729733072e-06,
                    "z": 4.75052984256763e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00018949796503875405,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 0.00026105804136022925,
                        "pitch": -0.04384981095790863,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.8710852600634098e-07,
                    "y": 1.4620600268244743e-06,
                    "z": -0.00018949223158415407
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008934876532293856,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0002368905406910926,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.591172804182861e-05,
                    "y": -8.007548785826657e-06,
                    "z": -0.0008933100616559386
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00026071982574649155,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": -0.00048828028957359493,
                        "pitch": -0.04598766192793846,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -3.6403023841558024e-05,
                    "y": 1.8962658998589177e-07,
                    "z": 0.00025816584820859134
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.9802374839782715,
                "transform": {
                    "location": {
                        "x": 941.6470947265625,
                        "y": 3517.517333984375,
                        "z": 370.7853088378906
                    },
                    "rotation": {
                        "roll": -3.052352258237079e-05,
                        "pitch": 0.4900387227535248,
                        "yaw": 99.23970031738281
                    }
                },
                "velocity": {
                    "x": -0.9593440294265747,
                    "y": 5.902767658233643,
                    "z": 0.015307368710637093
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.995889663696289,
                "transform": {
                    "location": {
                        "x": 939.3351440429688,
                        "y": 3531.82958984375,
                        "z": 370.8228454589844
                    },
                    "rotation": {
                        "roll": 6.431338260881603e-05,
                        "pitch": 0.14978604018688202,
                        "yaw": 99.28265380859375
                    }
                },
                "velocity": {
                    "x": -0.9563560485839844,
                    "y": 5.919112205505371,
                    "z": 0.013655071146786213
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8882137537002563,
                "transform": {
                    "location": {
                        "x": 932.8936767578125,
                        "y": 3551.39111328125,
                        "z": 370.8591613769531
                    },
                    "rotation": {
                        "roll": -0.00039672813727520406,
                        "pitch": 0.06122581288218498,
                        "yaw": 99.2204818725586
                    }
                },
                "velocity": {
                    "x": -0.2993762791156769,
                    "y": 1.864328384399414,
                    "z": 0.0021783828269690275
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.122976779937744,
                "transform": {
                    "location": {
                        "x": 931.0084228515625,
                        "y": 3563.113037109375,
                        "z": 370.88140869140625
                    },
                    "rotation": {
                        "roll": 0.0007017755997367203,
                        "pitch": -0.057701434940099716,
                        "yaw": 99.15148162841797
                    }
                },
                "velocity": {
                    "x": -0.8149515390396118,
                    "y": 5.057734966278076,
                    "z": 0.007892102934420109
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.8050537109375,
                        "y": 3504.69189453125,
                        "z": 370.75445556640625
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02728983201086521,
                "transform": {
                    "location": {
                        "x": 937.1340942382812,
                        "y": 3545.52587890625,
                        "z": 370.85162353515625
                    },
                    "rotation": {
                        "roll": -0.002532931277528405,
                        "pitch": -0.25600913166999817,
                        "yaw": 99.15821838378906
                    }
                },
                "velocity": {
                    "x": -0.005983967799693346,
                    "y": 0.026625022292137146,
                    "z": 0.00018760986858978868
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.226899147033691,
                "transform": {
                    "location": {
                        "x": 934.9690551757812,
                        "y": 3558.98583984375,
                        "z": 370.87127685546875
                    },
                    "rotation": {
                        "roll": -9.155057341558859e-05,
                        "pitch": 0.047777172178030014,
                        "yaw": 99.16542053222656
                    }
                },
                "velocity": {
                    "x": -0.6733067035675049,
                    "y": 4.172924995422363,
                    "z": 0.00563702592626214
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.575830459594727,
                "transform": {
                    "location": {
                        "x": 933.3743286132812,
                        "y": 3571.028076171875,
                        "z": 370.8867492675781
                    },
                    "rotation": {
                        "roll": 0.04460107535123825,
                        "pitch": 0.2243853658437729,
                        "yaw": 93.42388916015625
                    }
                },
                "velocity": {
                    "x": -0.2311374545097351,
                    "y": 5.570984840393066,
                    "z": 0.024284781888127327
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.18649199604988098,
        "expert_target_speed": 9.405635544176448,
        "target_point": [
            11.166430287204909,
            0.18531482235452224
        ],
        "target_point_next": [
            29.16531947323387,
            -0.006604095685286637
        ]
    },
    "635": {
        "acceleration": [
            -0.8960270881652832,
            5.861053466796875,
            -0.0867694765329361
        ],
        "angular_velocity": [
            -0.04078732058405876,
            -0.19143046438694,
            -0.8508015871047974
        ],
        "forward_vector": [
            -0.16734126210212708,
            0.9858195781707764,
            0.012522012926638126
        ],
        "right_vector": [
            -0.985858678817749,
            -0.16743586957454681,
            0.006925750058144331
        ],
        "location": [
            928.7771606445312,
            3579.391845703125,
            370.92889404296875
        ],
        "rotation": [
            -0.3968505263328552,
            0.7174772024154663,
            99.634033203125
        ],
        "velocity": [
            -1.841042160987854,
            10.949555397033691,
            -0.007485160604119301
        ],
        "speed": 11.103251759338093,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.83330241548332,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 16.440885543823242,
        "front_vehicle_info": {
            "id": 4079,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                932.6041259765625,
                3595.381103515625,
                370.90277099609375
            ],
            "velocity": [
                -1.9885115762008354e-05,
                3.7760735267511336e-06,
                0.00016410741955041885
            ],
            "speed_kmh": 0.0005952632572088761,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.790744323050603e-05,
                "transform": {
                    "location": {
                        "x": 894.2250366210938,
                        "y": 3574.5234375,
                        "z": 371.2056579589844
                    },
                    "rotation": {
                        "roll": 0.0016045734519138932,
                        "pitch": -0.38391125202178955,
                        "yaw": 8.883058547973633
                    }
                },
                "velocity": {
                    "x": 2.411864625173621e-05,
                    "y": -1.4923009985068347e-05,
                    "z": -8.320645429193974e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.660998870851472e-05,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.001866763224825263,
                        "pitch": 0.6695224046707153,
                        "yaw": -170.62379455566406
                    }
                },
                "velocity": {
                    "x": 1.9036308003705926e-05,
                    "y": 3.445949232627754e-06,
                    "z": 1.8271177395945415e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002942660066764802,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00021362020925153047,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": 1.2315059393586125e-05,
                    "y": 3.927820216631517e-06,
                    "z": 0.00029398195329122245
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00017729069804772735,
                "transform": {
                    "location": {
                        "x": 904.3441162109375,
                        "y": 3576.15625,
                        "z": 371.1191711425781
                    },
                    "rotation": {
                        "roll": -0.005371094681322575,
                        "pitch": -0.4260808229446411,
                        "yaw": 9.70583438873291
                    }
                },
                "velocity": {
                    "x": 1.6880034308996983e-05,
                    "y": -7.58260466682259e-06,
                    "z": 0.00017632231174502522
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5290017219958827e-05,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.00028168034623377025,
                        "pitch": 0.03900720924139023,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": 9.777722453918614e-08,
                    "y": 1.1205952432646882e-06,
                    "z": -2.5264987925766036e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.387187851127237e-05,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005504040978848934,
                        "pitch": 0.6041985154151917,
                        "yaw": -170.23854064941406
                    }
                },
                "velocity": {
                    "x": 1.647517092351336e-05,
                    "y": 2.4097412278933916e-06,
                    "z": 1.7106385712395422e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002955273084808141,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00023604843590874225,
                        "pitch": 0.03891841694712639,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -8.572947081120219e-06,
                    "y": -6.781173851777567e-06,
                    "z": 0.0002953250950668007
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.1060180664062,
                        "y": 3501.00830078125,
                        "z": 370.7445983886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.4708251953125,
                        "y": 3475.7001953125,
                        "z": 370.6478576660156
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0014830689178779721,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00028134966851212084,
                        "pitch": 0.008694830350577831,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 2.840734225628694e-07,
                    "y": 3.0770629564358387e-06,
                    "z": 0.0014830657746642828
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.5401611328125,
                        "y": 3514.994873046875,
                        "z": 370.78271484375
                    },
                    "rotation": {
                        "roll": -0.0002746567770373076,
                        "pitch": -0.2094135880470276,
                        "yaw": -80.85430145263672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00016535089525859803,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004103499522898346,
                        "pitch": 0.011536188423633575,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -1.9885115762008354e-05,
                    "y": 3.7760735267511336e-06,
                    "z": 0.00016410741955041885
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002976276446133852,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0001525895786471665,
                        "pitch": 0.5701500177383423,
                        "yaw": -170.83267211914062
                    }
                },
                "velocity": {
                    "x": 1.557625728310086e-05,
                    "y": -1.2590381629706826e-05,
                    "z": -0.00029695298871956766
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.812955856323242,
                "transform": {
                    "location": {
                        "x": 938.4970092773438,
                        "y": 3516.62890625,
                        "z": 370.7930908203125
                    },
                    "rotation": {
                        "roll": -0.0009155305451713502,
                        "pitch": 0.19029588997364044,
                        "yaw": 99.22563934326172
                    }
                },
                "velocity": {
                    "x": -1.249492883682251,
                    "y": 7.712366104125977,
                    "z": 0.021427812054753304
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.0279541015625,
                        "y": 3490.8798828125,
                        "z": 370.7081604003906
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009067413047887385,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0007376338471658528,
                        "pitch": -0.03885011374950409,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.2827706086682156e-05,
                    "y": 3.345937511767261e-05,
                    "z": -0.0009060329175554216
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009197302279062569,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 1.950673140527215e-05,
                        "pitch": -0.04397275671362877,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -4.559987942798216e-08,
                    "y": 6.469758204730169e-07,
                    "z": -0.0009197300532832742
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005229133530519903,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 1.6675270053667646e-09,
                        "pitch": -0.03802366182208061,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.0921761713689193e-05,
                    "y": 9.88696683634771e-07,
                    "z": -0.0005227983347140253
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002621212333906442,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": -0.0013427744852378964,
                        "pitch": -0.04601498320698738,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.210577738675056e-05,
                    "y": 1.823004276957363e-05,
                    "z": 0.00026120615075342357
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.5183281898498535,
                "transform": {
                    "location": {
                        "x": 941.3698120117188,
                        "y": 3519.2255859375,
                        "z": 370.7890930175781
                    },
                    "rotation": {
                        "roll": 0.004778435453772545,
                        "pitch": 0.7397230863571167,
                        "yaw": 99.21957397460938
                    }
                },
                "velocity": {
                    "x": -1.201873779296875,
                    "y": 7.421617031097412,
                    "z": 0.018957404419779778
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.899911403656006,
                "transform": {
                    "location": {
                        "x": 939.0977783203125,
                        "y": 3533.297119140625,
                        "z": 370.82647705078125
                    },
                    "rotation": {
                        "roll": -0.00018310139421373606,
                        "pitch": 0.10696075856685638,
                        "yaw": 99.19628143310547
                    }
                },
                "velocity": {
                    "x": -0.778705894947052,
                    "y": 4.837626934051514,
                    "z": 0.010802678763866425
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8124219179153442,
                "transform": {
                    "location": {
                        "x": 932.8140258789062,
                        "y": 3551.8857421875,
                        "z": 370.85968017578125
                    },
                    "rotation": {
                        "roll": -0.0002746617828961462,
                        "pitch": 0.0625508725643158,
                        "yaw": 99.19602966308594
                    }
                },
                "velocity": {
                    "x": -0.28722497820854187,
                    "y": 1.7895172834396362,
                    "z": 0.001689004828222096
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.72254753112793,
                "transform": {
                    "location": {
                        "x": 930.8119506835938,
                        "y": 3564.33203125,
                        "z": 370.8814392089844
                    },
                    "rotation": {
                        "roll": -0.00012207301915623248,
                        "pitch": 0.060945775359869,
                        "yaw": 99.0979232788086
                    }
                },
                "velocity": {
                    "x": -0.7483031153678894,
                    "y": 4.66288423538208,
                    "z": 0.002937049837782979
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.6727294921875,
                        "y": 3505.514404296875,
                        "z": 370.7568664550781
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8724021911621094,
                "transform": {
                    "location": {
                        "x": 937.1181030273438,
                        "y": 3545.625244140625,
                        "z": 370.85107421875
                    },
                    "rotation": {
                        "roll": 0.0033647066447883844,
                        "pitch": -0.0571618489921093,
                        "yaw": 99.17088317871094
                    }
                },
                "velocity": {
                    "x": -0.13753320276737213,
                    "y": 0.8614906668663025,
                    "z": 0.0020306683145463467
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.100407123565674,
                "transform": {
                    "location": {
                        "x": 934.7783203125,
                        "y": 3560.16796875,
                        "z": 370.87298583984375
                    },
                    "rotation": {
                        "roll": 0.0006028665811754763,
                        "pitch": 0.16190962493419647,
                        "yaw": 99.17143249511719
                    }
                },
                "velocity": {
                    "x": -0.8127242922782898,
                    "y": 5.035235404968262,
                    "z": 0.006069574039429426
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.960877418518066,
                "transform": {
                    "location": {
                        "x": 933.4254760742188,
                        "y": 3572.760009765625,
                        "z": 370.8907470703125
                    },
                    "rotation": {
                        "roll": 0.2938985228538513,
                        "pitch": 0.6007423996925354,
                        "yaw": 88.57292175292969
                    }
                },
                "velocity": {
                    "x": 0.7484204173088074,
                    "y": 7.925618648529053,
                    "z": -0.002262058202177286
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1531263291835785,
        "expert_target_speed": 10.0,
        "target_point": [
            8.594513031056076,
            0.2080957475858669
        ],
        "target_point_next": [
            26.593763240584362,
            0.053704372024443
        ]
    },
    "640": {
        "acceleration": [
            -0.5165481567382812,
            4.678058624267578,
            1.5908477306365967
        ],
        "angular_velocity": [
            -2.4156908988952637,
            -0.7434676289558411,
            -0.8763148784637451
        ],
        "forward_vector": [
            -0.16369420289993286,
            0.9865081310272217,
            -0.002439973410218954
        ],
        "right_vector": [
            -0.986509382724762,
            -0.16368871927261353,
            0.0023020273074507713
        ],
        "location": [
            928.2944946289062,
            3582.29345703125,
            370.9100341796875
        ],
        "rotation": [
            -0.1318969577550888,
            -0.1398003101348877,
            99.42141723632812
        ],
        "velocity": [
            -2.0236358642578125,
            12.231353759765625,
            -0.08228719234466553
        ],
        "speed": 12.397625454402272,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 42.09530258178711,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -2.8627546271309257e-06,
                3.215996571270807e-07,
                -8.055093348957598e-05
            ],
            "speed_kmh": 0.0002901687469846121,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8990262105944566e-05,
                "transform": {
                    "location": {
                        "x": 894.2250366210938,
                        "y": 3574.5234375,
                        "z": 371.2056579589844
                    },
                    "rotation": {
                        "roll": 0.0016045734519138932,
                        "pitch": -0.38391125202178955,
                        "yaw": 8.883058547973633
                    }
                },
                "velocity": {
                    "x": 1.580625757924281e-05,
                    "y": 2.242662048956845e-06,
                    "z": -1.0284101335855667e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010557124624028802,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.001514137489721179,
                        "pitch": 0.6694951057434082,
                        "yaw": -170.62376403808594
                    }
                },
                "velocity": {
                    "x": 3.15345823764801e-05,
                    "y": 1.0455530173203442e-05,
                    "z": 0.0010551895247772336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.594767182832584e-05,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00021362020925153047,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": -7.40831137591158e-06,
                    "y": 1.0979361775298457e-07,
                    "z": -6.553014827659354e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014868922298774123,
                "transform": {
                    "location": {
                        "x": 904.3441162109375,
                        "y": 3576.15625,
                        "z": 371.1191711425781
                    },
                    "rotation": {
                        "roll": -0.005371094681322575,
                        "pitch": -0.4260808229446411,
                        "yaw": 9.70583438873291
                    }
                },
                "velocity": {
                    "x": 2.104513259837404e-05,
                    "y": 2.5859866582322866e-05,
                    "z": 0.0014865183038637042
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00033113278914242983,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.00028168034623377025,
                        "pitch": 0.03900720924139023,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": -1.1513190656842198e-05,
                    "y": 2.7390660761739127e-07,
                    "z": -0.00033093246747739613
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.937868162523955e-05,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005504040978848934,
                        "pitch": 0.6041985154151917,
                        "yaw": -170.23854064941406
                    }
                },
                "velocity": {
                    "x": 2.2197291400516406e-05,
                    "y": -1.185275550596998e-06,
                    "z": 9.686071280157194e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004695139068644494,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00023604843590874225,
                        "pitch": 0.03891841694712639,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -7.779686228559513e-08,
                    "y": -4.684901796281338e-06,
                    "z": 0.00046949050738476217
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.791748046875,
                        "y": 3502.96240234375,
                        "z": 370.7508544921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2723388671875,
                        "y": 3476.93408203125,
                        "z": 370.6530456542969
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0008513220236636698,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00028134966851212084,
                        "pitch": 0.008694830350577831,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 1.6011221305234358e-05,
                    "y": 8.999769306683447e-06,
                    "z": 0.0008511238847859204
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.5401611328125,
                        "y": 3514.994873046875,
                        "z": 370.78271484375
                    },
                    "rotation": {
                        "roll": -0.0002746567770373076,
                        "pitch": -0.2094135880470276,
                        "yaw": -80.85430145263672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0011576730757951736,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004103499522898346,
                        "pitch": 0.011536188423633575,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -1.0511415894143283e-05,
                    "y": -6.618399311264511e-06,
                    "z": 0.0011576064862310886
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001668119803071022,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0009765619179233909,
                        "pitch": 0.5700544118881226,
                        "yaw": -170.83253479003906
                    }
                },
                "velocity": {
                    "x": 1.5297531717806123e-05,
                    "y": 4.012230874650413e-06,
                    "z": 0.0001660606067162007
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.109126091003418,
                "transform": {
                    "location": {
                        "x": 938.1790161132812,
                        "y": 3518.591064453125,
                        "z": 370.7989807128906
                    },
                    "rotation": {
                        "roll": -0.000885012443177402,
                        "pitch": 0.1414668709039688,
                        "yaw": 99.20551300048828
                    }
                },
                "velocity": {
                    "x": -1.2937345504760742,
                    "y": 8.005228996276855,
                    "z": 0.021695241332054138
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.8956298828125,
                        "y": 3491.702392578125,
                        "z": 370.71112060546875
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.438627704279497e-05,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0007002996280789375,
                        "pitch": -0.03887743502855301,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.754508260404691e-06,
                    "y": 8.568866178393364e-06,
                    "z": 5.3144231060286984e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6496054530143738,
                "transform": {
                    "location": {
                        "x": 923.020263671875,
                        "y": 3633.840576171875,
                        "z": 370.8684997558594
                    },
                    "rotation": {
                        "roll": -0.00048828189028427,
                        "pitch": -0.031985774636268616,
                        "yaw": 99.15292358398438
                    }
                },
                "velocity": {
                    "x": -0.10899047553539276,
                    "y": 0.6403946280479431,
                    "z": -0.0017368602566421032
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.060243271756917e-05,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.00011038861703127623,
                        "pitch": -0.03798950836062431,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.8627546271309257e-06,
                    "y": 3.215996571270807e-07,
                    "z": -8.055093348957598e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": -0.0009460431756451726,
                        "pitch": -0.04562566056847572,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.950961589813232,
                "transform": {
                    "location": {
                        "x": 941.076171875,
                        "y": 3521.040771484375,
                        "z": 370.7956237792969
                    },
                    "rotation": {
                        "roll": 0.003550606779754162,
                        "pitch": 0.2798396646976471,
                        "yaw": 99.21166229248047
                    }
                },
                "velocity": {
                    "x": -1.1107206344604492,
                    "y": 6.861611843109131,
                    "z": 0.021100100129842758
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0033529046922922134,
                "transform": {
                    "location": {
                        "x": 939.0026245117188,
                        "y": 3533.887451171875,
                        "z": 370.82818603515625
                    },
                    "rotation": {
                        "roll": -0.001068114535883069,
                        "pitch": 0.01159766037017107,
                        "yaw": 99.17994689941406
                    }
                },
                "velocity": {
                    "x": -0.000453532935352996,
                    "y": 0.0031416320707648993,
                    "z": 0.0010800119489431381
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.106785774230957,
                "transform": {
                    "location": {
                        "x": 932.7396850585938,
                        "y": 3552.348388671875,
                        "z": 370.8602294921875
                    },
                    "rotation": {
                        "roll": -0.0004272472870070487,
                        "pitch": 0.06977720558643341,
                        "yaw": 99.1781005859375
                    }
                },
                "velocity": {
                    "x": -0.3338101804256439,
                    "y": 2.0801713466644287,
                    "z": 0.002068214351311326
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.628690242767334,
                "transform": {
                    "location": {
                        "x": 930.626220703125,
                        "y": 3565.4892578125,
                        "z": 370.88238525390625
                    },
                    "rotation": {
                        "roll": 0.0007337788701988757,
                        "pitch": 0.06465456634759903,
                        "yaw": 99.1067886352539
                    }
                },
                "velocity": {
                    "x": -0.7350769639015198,
                    "y": 4.5699462890625,
                    "z": 0.0049090576358139515
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.47412109375,
                        "y": 3506.748291015625,
                        "z": 370.7605285644531
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6867831945419312,
                "transform": {
                    "location": {
                        "x": 937.0651245117188,
                        "y": 3545.953369140625,
                        "z": 370.8503723144531
                    },
                    "rotation": {
                        "roll": 0.0019030598923563957,
                        "pitch": 0.2948387563228607,
                        "yaw": 99.17561340332031
                    }
                },
                "velocity": {
                    "x": -0.2684679329395294,
                    "y": 1.6652798652648926,
                    "z": 0.002330636838451028
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.2060136795043945,
                "transform": {
                    "location": {
                        "x": 934.6516723632812,
                        "y": 3560.97314453125,
                        "z": 370.8730773925781
                    },
                    "rotation": {
                        "roll": -0.006927487440407276,
                        "pitch": -0.10458385199308395,
                        "yaw": 100.01236724853516
                    }
                },
                "velocity": {
                    "x": -0.5241430401802063,
                    "y": 3.1628777980804443,
                    "z": 0.0015104293124750257
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.134336471557617,
                "transform": {
                    "location": {
                        "x": 933.8056640625,
                        "y": 3574.78125,
                        "z": 370.8922424316406
                    },
                    "rotation": {
                        "roll": 0.48170697689056396,
                        "pitch": 0.007397094275802374,
                        "yaw": 78.46651458740234
                    }
                },
                "velocity": {
                    "x": 2.234734535217285,
                    "y": 7.8213396072387695,
                    "z": 0.005969066638499498
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.14012475311756134,
        "expert_target_speed": 10.0,
        "target_point": [
            23.651899294967127,
            0.15122233783979766
        ],
        "target_point_next": [
            23.651899294967127,
            0.15122233783979766
        ]
    },
    "645": {
        "acceleration": [
            -0.3603172302246094,
            3.7351417541503906,
            1.0546939373016357
        ],
        "angular_velocity": [
            1.3933727741241455,
            0.12608493864536285,
            -0.9336524605751038
        ],
        "forward_vector": [
            -0.15965954959392548,
            0.987123966217041,
            0.009755455888807774
        ],
        "right_vector": [
            -0.9871721267700195,
            -0.15965500473976135,
            -0.0012479920405894518
        ],
        "location": [
            927.7723388671875,
            3585.4931640625,
            370.8876037597656
        ],
        "rotation": [
            0.07150810211896896,
            0.5589553117752075,
            99.18757629394531
        ],
        "velocity": [
            -2.138221263885498,
            13.237690925598145,
            -0.0315716452896595
        ],
        "speed": 13.409267363096149,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 38.85329055786133,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                6.203811153682182e-06,
                7.074465884215897e-07,
                -0.0007136904168874025
            ],
            "speed_kmh": 0.0025693838300026427,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00031432235846295953,
                "transform": {
                    "location": {
                        "x": 894.2250366210938,
                        "y": 3574.5234375,
                        "z": 371.2056579589844
                    },
                    "rotation": {
                        "roll": 0.0016045734519138932,
                        "pitch": -0.38391125202178955,
                        "yaw": 8.883058547973633
                    }
                },
                "velocity": {
                    "x": 1.6099660570034757e-05,
                    "y": -6.742877758370014e-06,
                    "z": -0.00031383734312839806
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000425419129896909,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0017554350197315216,
                        "pitch": 0.6692560315132141,
                        "yaw": -170.62374877929688
                    }
                },
                "velocity": {
                    "x": 2.1639465558109805e-05,
                    "y": 8.49459320306778e-06,
                    "z": 0.0004247834731359035
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005367522826418281,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00021362020925153047,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": -7.06166838426725e-06,
                    "y": -3.0091962344158674e-07,
                    "z": 0.0005367057165130973
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007249889895319939,
                "transform": {
                    "location": {
                        "x": 904.3441162109375,
                        "y": 3576.15625,
                        "z": 371.1191711425781
                    },
                    "rotation": {
                        "roll": -0.005371094681322575,
                        "pitch": -0.4260808229446411,
                        "yaw": 9.70583438873291
                    }
                },
                "velocity": {
                    "x": 1.803703526093159e-05,
                    "y": -1.4691836440761108e-05,
                    "z": 0.0007246156455948949
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00014795822789892554,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.0006576692685484886,
                        "pitch": 0.03893890604376793,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": -8.757842806517147e-07,
                    "y": 3.339163754390029e-07,
                    "z": -0.00014795525930821896
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005537618999369442,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005839015822857618,
                        "pitch": 0.6042736172676086,
                        "yaw": -170.23841857910156
                    }
                },
                "velocity": {
                    "x": 2.242095797555521e-05,
                    "y": 1.5657888070563786e-05,
                    "z": 0.0005530862254090607
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00019144172256346792,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.00023604843590874225,
                        "pitch": 0.03891841694712639,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 9.638855772209354e-06,
                    "y": 4.684361556428485e-06,
                    "z": 0.0001911415165523067
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.4697265625,
                        "y": 3504.962158203125,
                        "z": 370.7568359375
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.139892578125,
                        "y": 3477.756591796875,
                        "z": 370.6565246582031
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00020933586347382516,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00028134966851212084,
                        "pitch": 0.008694830350577831,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": 1.671146492299158e-05,
                    "y": 1.0062854926218279e-05,
                    "z": 0.0002084249717881903
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.5401611328125,
                        "y": 3514.994873046875,
                        "z": 370.78271484375
                    },
                    "rotation": {
                        "roll": 6.67013155819518e-09,
                        "pitch": -0.1568552851676941,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004024147638119757,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004103499522898346,
                        "pitch": 0.011536188423633575,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": 1.1567259434741572e-06,
                    "y": 6.704765951326408e-07,
                    "z": 0.000402412551920861
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00027947983471676707,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": 0.00020045660494361073,
                        "pitch": 0.5700885653495789,
                        "yaw": -170.83251953125
                    }
                },
                "velocity": {
                    "x": 1.5954225091263652e-05,
                    "y": -7.532089966844069e-06,
                    "z": -0.00027892240905202925
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.027788162231445,
                "transform": {
                    "location": {
                        "x": 937.856201171875,
                        "y": 3520.5888671875,
                        "z": 370.8043518066406
                    },
                    "rotation": {
                        "roll": -0.000823967857286334,
                        "pitch": 0.15400026738643646,
                        "yaw": 99.18152618408203
                    }
                },
                "velocity": {
                    "x": -1.2779399156570435,
                    "y": 7.925386905670166,
                    "z": 0.02224287949502468
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.697021484375,
                        "y": 3492.936279296875,
                        "z": 370.7156982421875
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006438226555474102,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0008813680615276098,
                        "pitch": -0.03878864273428917,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 6.505809869850054e-05,
                    "y": 6.846179894637316e-05,
                    "z": -0.0006368579342961311
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4247034788131714,
                "transform": {
                    "location": {
                        "x": 922.9758911132812,
                        "y": 3634.10400390625,
                        "z": 370.8681640625
                    },
                    "rotation": {
                        "roll": -0.00024414008657913655,
                        "pitch": -0.0258181132376194,
                        "yaw": 99.2331314086914
                    }
                },
                "velocity": {
                    "x": -0.24041986465454102,
                    "y": 1.4042699337005615,
                    "z": -0.0020968818571418524
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007137177744880319,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 8.500885451212525e-05,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 6.203811153682182e-06,
                    "y": 7.074465884215897e-07,
                    "z": -0.0007136904168874025
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.822135329246521,
                "transform": {
                    "location": {
                        "x": 919.7077026367188,
                        "y": 3633.95654296875,
                        "z": 370.87396240234375
                    },
                    "rotation": {
                        "roll": -0.007812502793967724,
                        "pitch": 0.21267841756343842,
                        "yaw": 99.2507095336914
                    }
                },
                "velocity": {
                    "x": -0.30470922589302063,
                    "y": 1.7964751720428467,
                    "z": -0.0024674320593476295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.6948318481445312,
                "transform": {
                    "location": {
                        "x": 940.8655395507812,
                        "y": 3522.3369140625,
                        "z": 370.8034362792969
                    },
                    "rotation": {
                        "roll": -0.0032959107775241137,
                        "pitch": -0.8905609846115112,
                        "yaw": 98.938720703125
                    }
                },
                "velocity": {
                    "x": -0.4325195252895355,
                    "y": 2.6598923206329346,
                    "z": 0.004382553044706583
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6579944491386414,
                "transform": {
                    "location": {
                        "x": 938.9912109375,
                        "y": 3533.95751953125,
                        "z": 370.8277282714844
                    },
                    "rotation": {
                        "roll": -0.00012206647807033733,
                        "pitch": 0.10147611796855927,
                        "yaw": 99.16260528564453
                    }
                },
                "velocity": {
                    "x": -0.10408800840377808,
                    "y": 0.6497054100036621,
                    "z": 0.0022986221592873335
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9050726890563965,
                "transform": {
                    "location": {
                        "x": 932.639404296875,
                        "y": 3552.97119140625,
                        "z": 370.8608093261719
                    },
                    "rotation": {
                        "roll": 0.00034190999576821923,
                        "pitch": 0.08122460544109344,
                        "yaw": 99.1627197265625
                    }
                },
                "velocity": {
                    "x": -0.4614011347293854,
                    "y": 2.8681962490081787,
                    "z": 0.002521734219044447
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.4635701179504395,
                "transform": {
                    "location": {
                        "x": 930.4469604492188,
                        "y": 3566.606201171875,
                        "z": 370.8834228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.06744128465652466,
                        "yaw": 99.1155776977539
                    }
                },
                "velocity": {
                    "x": -0.7069301605224609,
                    "y": 4.407229423522949,
                    "z": 0.005810060538351536
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.341796875,
                        "y": 3507.57080078125,
                        "z": 370.7630310058594
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.765186309814453,
                "transform": {
                    "location": {
                        "x": 936.9769897460938,
                        "y": 3546.499267578125,
                        "z": 370.8506164550781
                    },
                    "rotation": {
                        "roll": 0.001737620448693633,
                        "pitch": 0.4669322073459625,
                        "yaw": 99.1680679321289
                    }
                },
                "velocity": {
                    "x": -0.43967512249946594,
                    "y": 2.7300055027008057,
                    "z": 0.0034284114371985197
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.710168838500977,
                "transform": {
                    "location": {
                        "x": 934.4873046875,
                        "y": 3561.966552734375,
                        "z": 370.87445068359375
                    },
                    "rotation": {
                        "roll": 0.003097809851169586,
                        "pitch": 0.20028845965862274,
                        "yaw": 99.65939331054688
                    }
                },
                "velocity": {
                    "x": -0.766589879989624,
                    "y": 4.647367000579834,
                    "z": 0.003099947003647685
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.8008575439453125,
                "transform": {
                    "location": {
                        "x": 934.57421875,
                        "y": 3576.5849609375,
                        "z": 370.8848876953125
                    },
                    "rotation": {
                        "roll": 0.7741823196411133,
                        "pitch": -0.3193659782409668,
                        "yaw": 65.7421875
                    }
                },
                "velocity": {
                    "x": 3.8635525703430176,
                    "y": 6.776741027832031,
                    "z": -0.04606239125132561
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.13107925653457642,
        "expert_target_speed": 10.0,
        "target_point": [
            20.40905638156439,
            0.24317650022697856
        ],
        "target_point_next": [
            20.40905638156439,
            0.24317650022697856
        ]
    },
    "650": {
        "acceleration": [
            -0.23688316345214844,
            2.1254730224609375,
            0.0011674873530864716
        ],
        "angular_velocity": [
            -0.8812204003334045,
            -0.07009880989789963,
            -0.32622474431991577
        ],
        "forward_vector": [
            -0.15726527571678162,
            0.9875212907791138,
            0.008322500623762608
        ],
        "right_vector": [
            -0.9875562787055969,
            -0.15726235508918762,
            -0.0010067091789096594
        ],
        "location": [
            927.2246704101562,
            3588.907470703125,
            370.8897705078125
        ],
        "rotation": [
            0.05768219009041786,
            0.47684964537620544,
            99.04851531982422
        ],
        "velocity": [
            -2.2259132862091064,
            13.974239349365234,
            0.015508593991398811
        ],
        "speed": 14.150408310401149,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 35.39543914794922,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                -2.4338054572581314e-05,
                -5.209166374697816e-06,
                1.0982405001414008e-05
            ],
            "speed_kmh": 9.793651190790676e-05,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6526086255908012e-05,
                "transform": {
                    "location": {
                        "x": 894.2250366210938,
                        "y": 3574.5234375,
                        "z": 371.2056579589844
                    },
                    "rotation": {
                        "roll": 0.0016045734519138932,
                        "pitch": -0.38391125202178955,
                        "yaw": 8.883058547973633
                    }
                },
                "velocity": {
                    "x": 1.2387633432808798e-05,
                    "y": -8.232565051002894e-06,
                    "z": 7.202980214060517e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4091,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012245335383340716,
                "transform": {
                    "location": {
                        "x": 973.8585205078125,
                        "y": 3584.43017578125,
                        "z": 370.4703063964844
                    },
                    "rotation": {
                        "roll": 0.0016265996964648366,
                        "pitch": 0.669413149356842,
                        "yaw": -170.62368774414062
                    }
                },
                "velocity": {
                    "x": 3.485709385131486e-05,
                    "y": 1.4751403796253726e-06,
                    "z": 0.0012240364449098706
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00028588733403012156,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00021362020925153047,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": -1.3291001778270584e-05,
                    "y": -3.2606999411655124e-06,
                    "z": 0.0002855595957953483
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00011627159983618185,
                "transform": {
                    "location": {
                        "x": 904.3441162109375,
                        "y": 3576.15625,
                        "z": 371.1191711425781
                    },
                    "rotation": {
                        "roll": -0.005371094681322575,
                        "pitch": -0.4260808229446411,
                        "yaw": 9.70583438873291
                    }
                },
                "velocity": {
                    "x": 1.6469135516672395e-05,
                    "y": 1.5013781194284093e-05,
                    "z": -0.00011411590094212443
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00019301330030430108,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.0003425267059355974,
                        "pitch": 0.03891841694712639,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": -8.231774017986027e-07,
                    "y": 7.333210305660032e-06,
                    "z": -0.0001928721903823316
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4086,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00047483728849329054,
                "transform": {
                    "location": {
                        "x": 963.371826171875,
                        "y": 3582.7119140625,
                        "z": 370.5856628417969
                    },
                    "rotation": {
                        "roll": 0.005688473116606474,
                        "pitch": 0.6042190194129944,
                        "yaw": -170.2384033203125
                    }
                },
                "velocity": {
                    "x": 1.612298183317762e-05,
                    "y": 2.061278428300284e-05,
                    "z": 0.0004741156008094549
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7013599062920548e-05,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0003524401399772614,
                        "pitch": 0.03897988796234131,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": 1.2943689398525748e-05,
                    "y": 8.315168997796718e-06,
                    "z": -7.2650850597710814e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.151611328125,
                        "y": 3506.93896484375,
                        "z": 370.7626953125
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4082,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.9414672851562,
                        "y": 3478.990478515625,
                        "z": 370.6618347167969
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0010860739275813103,
                "transform": {
                    "location": {
                        "x": 935.8435668945312,
                        "y": 3595.618896484375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00028134966851212084,
                        "pitch": 0.008694830350577831,
                        "yaw": -80.54478454589844
                    }
                },
                "velocity": {
                    "x": -8.329358820446942e-07,
                    "y": 2.352984211029252e-06,
                    "z": 0.0010860710171982646
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4080,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.5401611328125,
                        "y": 3514.994873046875,
                        "z": 370.78271484375
                    },
                    "rotation": {
                        "roll": 6.67013155819518e-09,
                        "pitch": -0.1568552851676941,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001389664364978671,
                "transform": {
                    "location": {
                        "x": 932.6041259765625,
                        "y": 3595.381103515625,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0004103499522898346,
                        "pitch": 0.011536188423633575,
                        "yaw": -81.07487487792969
                    }
                },
                "velocity": {
                    "x": -4.420289467788052e-09,
                    "y": 7.197045306384098e-07,
                    "z": 0.0013896641321480274
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4078,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003716730570886284,
                "transform": {
                    "location": {
                        "x": 952.9964599609375,
                        "y": 3581.02001953125,
                        "z": 370.6910400390625
                    },
                    "rotation": {
                        "roll": -0.0006713861366733909,
                        "pitch": 0.5701226592063904,
                        "yaw": -170.8324737548828
                    }
                },
                "velocity": {
                    "x": 1.7940103134606034e-05,
                    "y": 1.8249758795718662e-05,
                    "z": 0.0003707909781951457
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4077,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.026416778564453,
                "transform": {
                    "location": {
                        "x": 937.537109375,
                        "y": 3522.566162109375,
                        "z": 370.8096008300781
                    },
                    "rotation": {
                        "roll": -0.0001220633857883513,
                        "pitch": 0.15479256212711334,
                        "yaw": 99.17015075683594
                    }
                },
                "velocity": {
                    "x": -1.279045820236206,
                    "y": 7.923821449279785,
                    "z": 0.021477537229657173
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4076,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.5648193359375,
                        "y": 3493.7587890625,
                        "z": 370.7186584472656
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004284123715478927,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.881591796875
                    },
                    "rotation": {
                        "roll": 0.0008813680615276098,
                        "pitch": -0.03878864273428917,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.0683908840292133e-05,
                    "y": -4.0117036405717954e-05,
                    "z": -0.0004263961163815111
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2940444946289062,
                "transform": {
                    "location": {
                        "x": 922.897216796875,
                        "y": 3634.568115234375,
                        "z": 370.8677673339844
                    },
                    "rotation": {
                        "roll": -0.00015258703206200153,
                        "pitch": -0.027252452448010445,
                        "yaw": 99.35505676269531
                    }
                },
                "velocity": {
                    "x": -0.3889721632003784,
                    "y": 2.260826587677002,
                    "z": -0.0019599341321736574
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7204587240703404e-05,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": -9.155223233392462e-05,
                        "pitch": -0.03805098310112953,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.4338054572581314e-05,
                    "y": -5.209166374697816e-06,
                    "z": 1.0982405001414008e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.3320133686065674,
                "transform": {
                    "location": {
                        "x": 919.5990600585938,
                        "y": 3634.595458984375,
                        "z": 370.87347412109375
                    },
                    "rotation": {
                        "roll": -0.008850091136991978,
                        "pitch": 0.2543562352657318,
                        "yaw": 99.3724365234375
                    }
                },
                "velocity": {
                    "x": -0.5603495836257935,
                    "y": 3.284557342529297,
                    "z": -0.002233962994068861
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4061,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7574042081832886,
                "transform": {
                    "location": {
                        "x": 940.8344116210938,
                        "y": 3522.513916015625,
                        "z": 370.8045654296875
                    },
                    "rotation": {
                        "roll": -0.006439227610826492,
                        "pitch": -1.1002751588821411,
                        "yaw": 98.70729064941406
                    }
                },
                "velocity": {
                    "x": -0.11948081851005554,
                    "y": 0.7479174137115479,
                    "z": 0.0022348021157085896
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4056,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4346452951431274,
                "transform": {
                    "location": {
                        "x": 938.9505004882812,
                        "y": 3534.212646484375,
                        "z": 370.8280029296875
                    },
                    "rotation": {
                        "roll": -9.154745930572972e-05,
                        "pitch": 0.13361215591430664,
                        "yaw": 99.19520568847656
                    }
                },
                "velocity": {
                    "x": -0.22851645946502686,
                    "y": 1.4163265228271484,
                    "z": 0.002563800662755966
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.602149486541748,
                "transform": {
                    "location": {
                        "x": 932.5101318359375,
                        "y": 3553.774658203125,
                        "z": 370.86175537109375
                    },
                    "rotation": {
                        "roll": 0.00028081508935429156,
                        "pitch": 0.0822286456823349,
                        "yaw": 99.15266418457031
                    }
                },
                "velocity": {
                    "x": -0.5719884634017944,
                    "y": 3.556445598602295,
                    "z": 0.0024675941094756126
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.296689033508301,
                "transform": {
                    "location": {
                        "x": 930.2732543945312,
                        "y": 3567.68701171875,
                        "z": 370.8844299316406
                    },
                    "rotation": {
                        "roll": 0.001306504593230784,
                        "pitch": 0.06677192449569702,
                        "yaw": 99.11770629882812
                    }
                },
                "velocity": {
                    "x": -0.6833036541938782,
                    "y": 4.242005348205566,
                    "z": 0.004762973636388779
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4050,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.1432495117188,
                        "y": 3508.8046875,
                        "z": 370.76666259765625
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4049,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.18637752532959,
                "transform": {
                    "location": {
                        "x": 936.8370361328125,
                        "y": 3547.366455078125,
                        "z": 370.8513488769531
                    },
                    "rotation": {
                        "roll": 0.0004209633625578135,
                        "pitch": 0.6405351161956787,
                        "yaw": 99.17147064208984
                    }
                },
                "velocity": {
                    "x": -0.6672609448432922,
                    "y": 4.132853984832764,
                    "z": 0.0062866974622011185
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4048,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.048813343048096,
                "transform": {
                    "location": {
                        "x": 934.2805786132812,
                        "y": 3563.2314453125,
                        "z": 370.8757019042969
                    },
                    "rotation": {
                        "roll": 0.006242680829018354,
                        "pitch": 0.12545691430568695,
                        "yaw": 99.30615234375
                    }
                },
                "velocity": {
                    "x": -0.8097359538078308,
                    "y": 4.983454704284668,
                    "z": 0.004763746168464422
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4047,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.201796531677246,
                "transform": {
                    "location": {
                        "x": 935.77099609375,
                        "y": 3578.1904296875,
                        "z": 370.8716735839844
                    },
                    "rotation": {
                        "roll": 0.9117934107780457,
                        "pitch": -0.3764595091342926,
                        "yaw": 52.38678741455078
                    }
                },
                "velocity": {
                    "x": 5.5306077003479,
                    "y": 6.056262493133545,
                    "z": -0.05937577411532402
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.13369154930114746,
        "expert_target_speed": 10.0,
        "target_point": [
            16.950456444737036,
            0.28882899319156374
        ],
        "target_point_next": [
            16.950456444737036,
            0.28882899319156374
        ]
    },
    "655": {
        "acceleration": [
            0.4558897018432617,
            -2.422046661376953,
            -0.03728122264146805
        ],
        "angular_velocity": [
            -1.6000711917877197,
            -0.23572489619255066,
            -0.2913403809070587
        ],
        "forward_vector": [
            -0.15598219633102417,
            0.987755298614502,
            0.003012175438925624
        ],
        "right_vector": [
            -0.9877598881721497,
            -0.15598072111606598,
            -0.0007216944941319525
        ],
        "location": [
            926.6689453125,
            3592.41064453125,
            370.89349365234375
        ],
        "rotation": [
            0.041350238025188446,
            0.17258520424365997,
            98.97380828857422
        ],
        "velocity": [
            -2.186915397644043,
            13.855992317199707,
            0.006192588713020086
        ],
        "speed": 14.027513038694703,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 31.848642349243164,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8840026855469
            ],
            "velocity": [
                2.24162590711785e-06,
                1.7258943216802436e-06,
                -0.0009792743949219584
            ],
            "speed_kmh": 0.0035254025330668263,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0007229380425997078,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00021362020925153047,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": 2.3120269361243118e-06,
                    "y": 7.342747267102823e-06,
                    "z": 0.0007228970644064248
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.893442671047524e-05,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.0003425267059355974,
                        "pitch": 0.03891841694712639,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": 1.3748798664892092e-05,
                    "y": -5.1016641009482555e-06,
                    "z": -7.756021659588441e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001027176549541764,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0003524401399772614,
                        "pitch": 0.03897988796234131,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -7.439965884259436e-06,
                    "y": 1.135286879616615e-06,
                    "z": 0.0001024415687425062
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009985020151361823,
                "transform": {
                    "location": {
                        "x": 935.8434448242188,
                        "y": 3595.619873046875,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00016248544852714986,
                        "pitch": 0.007240000180900097,
                        "yaw": -80.54444122314453
                    }
                },
                "velocity": {
                    "x": 7.530828952440061e-06,
                    "y": -0.00090574542991817,
                    "z": 0.000420207972638309
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00379967107437551,
                "transform": {
                    "location": {
                        "x": 932.6040649414062,
                        "y": 3595.3818359375,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0001125542912632227,
                        "pitch": 0.010361396707594395,
                        "yaw": -81.07499694824219
                    }
                },
                "velocity": {
                    "x": 0.0007386512006632984,
                    "y": -0.00368175539188087,
                    "z": 0.0005801486549898982
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2307329177856445,
                "transform": {
                    "location": {
                        "x": 924.66552734375,
                        "y": 3623.614501953125,
                        "z": 370.8815612792969
                    },
                    "rotation": {
                        "roll": -0.004547122400254011,
                        "pitch": 0.15817351639270782,
                        "yaw": 99.1482162475586
                    }
                },
                "velocity": {
                    "x": -0.20341773331165314,
                    "y": 1.2138047218322754,
                    "z": -0.001655149389989674
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.020700693130493,
                "transform": {
                    "location": {
                        "x": 922.7849731445312,
                        "y": 3635.226806640625,
                        "z": 370.8673095703125
                    },
                    "rotation": {
                        "roll": -0.0008850081358104944,
                        "pitch": -0.030271396040916443,
                        "yaw": 99.49044799804688
                    }
                },
                "velocity": {
                    "x": -0.5131812691688538,
                    "y": 2.9767885208129883,
                    "z": -0.002679424127563834
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009792784694582224,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 3.228832429158501e-05,
                        "pitch": -0.03798950836062431,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.24162590711785e-06,
                    "y": 1.7258943216802436e-06,
                    "z": -0.0009792743949219584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.8101725578308105,
                "transform": {
                    "location": {
                        "x": 919.42529296875,
                        "y": 3635.610595703125,
                        "z": 370.87261962890625
                    },
                    "rotation": {
                        "roll": -0.00790406484156847,
                        "pitch": 0.26187625527381897,
                        "yaw": 99.56047058105469
                    }
                },
                "velocity": {
                    "x": -0.8140109777450562,
                    "y": 4.740795135498047,
                    "z": -0.0030815124046057463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.13557058572769165,
        "expert_target_speed": 10.0,
        "target_point": [
            13.40308761694733,
            0.3084471475619597
        ],
        "target_point_next": [
            13.40308761694733,
            0.3084471475619597
        ]
    },
    "660": {
        "acceleration": [
            0.5730199813842773,
            -3.2243919372558594,
            -0.03307609260082245
        ],
        "angular_velocity": [
            -0.9470508098602295,
            -0.1442735344171524,
            -0.2826828956604004
        ],
        "forward_vector": [
            -0.1547420769929886,
            0.987949788570404,
            -0.0031850282102823257
        ],
        "right_vector": [
            -0.987954318523407,
            -0.15474461019039154,
            -0.000562025117687881
        ],
        "location": [
            926.1400756835938,
            3595.773681640625,
            370.8949279785156
        ],
        "rotation": [
            0.03220183402299881,
            -0.18248897790908813,
            98.90188598632812
        ],
        "velocity": [
            -2.0483577251434326,
            13.085773468017578,
            -0.0025323103182017803
        ],
        "speed": 13.245121238645858,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 28.566566467285156,
        "front_vehicle_info": {
            "id": 4073,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                921.3228759765625,
                3623.93115234375,
                370.8847961425781
            ],
            "velocity": [
                -0.21594105660915375,
                1.2483419179916382,
                -0.001849002786912024
            ],
            "speed_kmh": 4.5607773326821714,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00038281542947515845,
                "transform": {
                    "location": {
                        "x": 932.5452880859375,
                        "y": 3616.123046875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.00021362020925153047,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.99403381347656
                    }
                },
                "velocity": {
                    "x": -7.558500783488853e-06,
                    "y": 3.764079679058341e-07,
                    "z": 0.00038274063263088465
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4088,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.3332871579623315e-06,
                "transform": {
                    "location": {
                        "x": 929.271240234375,
                        "y": 3615.974365234375,
                        "z": 370.89056396484375
                    },
                    "rotation": {
                        "roll": 0.0003425267059355974,
                        "pitch": 0.03891841694712639,
                        "yaw": -80.41349029541016
                    }
                },
                "velocity": {
                    "x": -1.7548677533341106e-07,
                    "y": 2.1358484900702024e-06,
                    "z": -7.013162758084945e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.300706394948065e-05,
                "transform": {
                    "location": {
                        "x": 934.2393798828125,
                        "y": 3605.6455078125,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": 0.0002829576551448554,
                        "pitch": 0.03911649063229561,
                        "yaw": -80.53479766845703
                    }
                },
                "velocity": {
                    "x": -2.5255819764424814e-06,
                    "y": -1.1239619652769761e-06,
                    "z": 8.29610216896981e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4084,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9778442382812,
                        "y": 3605.459716796875,
                        "z": 370.8864440917969
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.81302642822266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4081,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00157747243065387,
                "transform": {
                    "location": {
                        "x": 935.8434448242188,
                        "y": 3595.6201171875,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": 0.0001997605140786618,
                        "pitch": 0.01037505641579628,
                        "yaw": -80.54472351074219
                    }
                },
                "velocity": {
                    "x": 0.00022774672834202647,
                    "y": -0.0006663054809905589,
                    "z": 0.0014115904923528433
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4079,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0026339408941566944,
                "transform": {
                    "location": {
                        "x": 932.6040649414062,
                        "y": 3595.381103515625,
                        "z": 370.9027404785156
                    },
                    "rotation": {
                        "roll": 0.00036782550159841776,
                        "pitch": 0.013182264752686024,
                        "yaw": -81.0752182006836
                    }
                },
                "velocity": {
                    "x": 0.00021353413467295468,
                    "y": -0.002163843484595418,
                    "z": 0.001486549386754632
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4075,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.311394691467285,
                "transform": {
                    "location": {
                        "x": 924.5859375,
                        "y": 3624.0849609375,
                        "z": 370.88116455078125
                    },
                    "rotation": {
                        "roll": -0.00610351050272584,
                        "pitch": 0.19806180894374847,
                        "yaw": 99.29742431640625
                    }
                },
                "velocity": {
                    "x": -0.3861464858055115,
                    "y": 2.2789103984832764,
                    "z": -0.0019918917678296566
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4074,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.775891065597534,
                "transform": {
                    "location": {
                        "x": 922.640625,
                        "y": 3636.069091796875,
                        "z": 370.8665466308594
                    },
                    "rotation": {
                        "roll": -0.0007019037147983909,
                        "pitch": -0.03087928332388401,
                        "yaw": 99.61068725585938
                    }
                },
                "velocity": {
                    "x": -0.6425241231918335,
                    "y": 3.7208213806152344,
                    "z": -0.002141666365787387
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4073,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2668826580047607,
                "transform": {
                    "location": {
                        "x": 921.3228759765625,
                        "y": 3623.93115234375,
                        "z": 370.8847961425781
                    },
                    "rotation": {
                        "roll": 0.0023014212492853403,
                        "pitch": -0.14822876453399658,
                        "yaw": 99.21791076660156
                    }
                },
                "velocity": {
                    "x": -0.21594105660915375,
                    "y": 1.2483419179916382,
                    "z": -0.001849002786912024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.449709892272949,
                "transform": {
                    "location": {
                        "x": 919.20068359375,
                        "y": 3636.91455078125,
                        "z": 370.871826171875
                    },
                    "rotation": {
                        "roll": -0.007659913506358862,
                        "pitch": 0.12051185220479965,
                        "yaw": 99.74922180175781
                    }
                },
                "velocity": {
                    "x": -0.928155243396759,
                    "y": 5.370087146759033,
                    "z": -0.005463523790240288
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.15066945552825928,
        "expert_target_speed": 10.0,
        "target_point": [
            9.998322485219987,
            0.3231783196201572
        ],
        "target_point_next": [
            9.998322485219987,
            0.3231783196201572
        ]
    }
}