{
    "0": {
        "acceleration": [
            -1.388193964958191,
            0.29340147972106934,
            -0.623413622379303
        ],
        "angular_velocity": [
            0.16278941929340363,
            0.05658181756734848,
            0.014171826653182507
        ],
        "forward_vector": [
            -0.9767554998397827,
            0.20620295405387878,
            -0.05855867639183998
        ],
        "right_vector": [
            -0.20658539235591888,
            -0.9784284830093384,
            0.00048811634769663215
        ],
        "location": [
            -997.7260131835938,
            3045.57958984375,
            360.11627197265625
        ],
        "rotation": [
            -0.028015082702040672,
            -3.357085704803467,
            168.07931518554688
        ],
        "velocity": [
            -0.3305833637714386,
            0.06875918060541153,
            0.19291411340236664
        ],
        "speed": 0.33765838553183736,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02175081893801689,
        "expert_target_speed": 20.0,
        "target_point": [
            51.01628949780459,
            -0.6590699326244209
        ],
        "target_point_next": [
            72.94076837896542,
            -2.440317901326665
        ]
    },
    "5": {
        "acceleration": [
            0.354616641998291,
            -0.07494345307350159,
            -0.3970189392566681
        ],
        "angular_velocity": [
            0.011250074952840805,
            -0.21797354519367218,
            -0.011260940693318844
        ],
        "forward_vector": [
            -0.9767255783081055,
            0.2062482237815857,
            -0.05889629200100899
        ],
        "right_vector": [
            -0.20661552250385284,
            -0.9784221649169922,
            0.00014994153752923012
        ],
        "location": [
            -997.819580078125,
            3045.599365234375,
            360.1446533203125
        ],
        "rotation": [
            -0.008605956099927425,
            -3.376462936401367,
            168.076416015625
        ],
        "velocity": [
            -0.4165002405643463,
            0.0879024788737297,
            0.05107443779706955
        ],
        "speed": 0.4256751063690533,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.804239273071289,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1012.315673828125,
                3048.479736328125,
                359.2889404296875
            ],
            "velocity": [
                0.02070898562669754,
                -0.0038858132902532816,
                -0.3618306517601013
            ],
            "speed_kmh": 1.3047970543733771,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35542193055152893,
                "transform": {
                    "location": {
                        "x": -1027.03662109375,
                        "y": 3051.619384765625,
                        "z": 358.40618896484375
                    },
                    "rotation": {
                        "roll": 0.0005572083173319697,
                        "pitch": -3.389611005783081,
                        "yaw": 167.10130310058594
                    }
                },
                "velocity": {
                    "x": 0.019952403381466866,
                    "y": -0.004635321907699108,
                    "z": -0.35483118891716003
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.36244362592697144,
                "transform": {
                    "location": {
                        "x": -1012.315673828125,
                        "y": 3048.479736328125,
                        "z": 359.2889404296875
                    },
                    "rotation": {
                        "roll": -0.0020752190612256527,
                        "pitch": -3.383511543273926,
                        "yaw": 168.8202362060547
                    }
                },
                "velocity": {
                    "x": 0.02070898562669754,
                    "y": -0.0038858132902532816,
                    "z": -0.3618306517601013
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.36896517872810364,
                "transform": {
                    "location": {
                        "x": -968.6412353515625,
                        "y": 3038.349853515625,
                        "z": 361.9288635253906
                    },
                    "rotation": {
                        "roll": -0.0014952919445931911,
                        "pitch": -3.109771251678467,
                        "yaw": 163.95782470703125
                    }
                },
                "velocity": {
                    "x": 0.019212467595934868,
                    "y": -0.004980984143912792,
                    "z": -0.3684309720993042
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4340400993824005,
                "transform": {
                    "location": {
                        "x": -983.0672607421875,
                        "y": 3042.216064453125,
                        "z": 361.0664367675781
                    },
                    "rotation": {
                        "roll": -0.0023498532827943563,
                        "pitch": -3.422177314758301,
                        "yaw": 166.034912109375
                    }
                },
                "velocity": {
                    "x": 0.02401801012456417,
                    "y": -0.00591486319899559,
                    "z": -0.43333467841148376
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02224365621805191,
        "expert_target_speed": 1.416788926502112,
        "target_point": [
            50.920688914685684,
            -0.6564741100141998
        ],
        "target_point_next": [
            72.84525780055371,
            -2.436613909383869
        ]
    },
    "10": {
        "acceleration": [
            -1.4413094520568848,
            0.30913904309272766,
            -0.24731673300266266
        ],
        "angular_velocity": [
            0.0382295623421669,
            0.173887699842453,
            -0.021326711401343346
        ],
        "forward_vector": [
            -0.9767052531242371,
            0.20632685720920563,
            -0.058958522975444794
        ],
        "right_vector": [
            -0.20668625831604004,
            -0.9784073233604431,
            -2.66218535216467e-06
        ],
        "location": [
            -997.94677734375,
            3045.62646484375,
            360.1474609375
        ],
        "rotation": [
            0.00015279778745025396,
            -3.380034923553467,
            168.07176208496094
        ],
        "velocity": [
            -0.595209002494812,
            0.12631507217884064,
            -0.016399554908275604
        ],
        "speed": 0.6084646695662903,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.674555778503418,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1012.315185546875,
                3048.479736328125,
                359.2812805175781
            ],
            "velocity": [
                -0.0025930977426469326,
                0.0008396224002353847,
                0.04330083355307579
            ],
            "speed_kmh": 0.15619152138504566,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04341328889131546,
                "transform": {
                    "location": {
                        "x": -1027.0362548828125,
                        "y": 3051.619384765625,
                        "z": 358.3987121582031
                    },
                    "rotation": {
                        "roll": 0.00045848023728467524,
                        "pitch": -3.3941051959991455,
                        "yaw": 167.10107421875
                    }
                },
                "velocity": {
                    "x": -0.0025074416771531105,
                    "y": 0.0010002297349274158,
                    "z": 0.04332927241921425
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04338653385639191,
                "transform": {
                    "location": {
                        "x": -1012.315185546875,
                        "y": 3048.479736328125,
                        "z": 359.2812805175781
                    },
                    "rotation": {
                        "roll": -0.002197262132540345,
                        "pitch": -3.3869266510009766,
                        "yaw": 168.8199920654297
                    }
                },
                "velocity": {
                    "x": -0.0025930977426469326,
                    "y": 0.0008396224002353847,
                    "z": 0.04330083355307579
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04540371522307396,
                "transform": {
                    "location": {
                        "x": -968.6408081054688,
                        "y": 3038.349609375,
                        "z": 361.92108154296875
                    },
                    "rotation": {
                        "roll": -0.0018310773884877563,
                        "pitch": -3.1087331771850586,
                        "yaw": 163.95758056640625
                    }
                },
                "velocity": {
                    "x": -0.0023626028560101986,
                    "y": 0.001078734640032053,
                    "z": 0.045329369604587555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027120715007185936,
                "transform": {
                    "location": {
                        "x": -983.0657348632812,
                        "y": 3042.2158203125,
                        "z": 361.0423889160156
                    },
                    "rotation": {
                        "roll": -0.0021667382679879665,
                        "pitch": -3.4453043937683105,
                        "yaw": 166.0348358154297
                    }
                },
                "velocity": {
                    "x": -0.0017482321709394455,
                    "y": 0.0005701418267562985,
                    "z": 0.027058303356170654
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02302522212266922,
        "expert_target_speed": 1.5838662493784545,
        "target_point": [
            50.790690116282946,
            -0.6521217359627212
        ],
        "target_point_next": [
            72.71540323237309,
            -2.430484273134798
        ]
    },
    "15": {
        "acceleration": [
            -5.363272666931152,
            1.1272960901260376,
            -0.35824790596961975
        ],
        "angular_velocity": [
            0.18153175711631775,
            1.0578161478042603,
            0.3386210799217224
        ],
        "forward_vector": [
            -0.9767429828643799,
            0.2063494324684143,
            -0.05825021490454674
        ],
        "right_vector": [
            -0.20669718086719513,
            -0.9784049391746521,
            -5.6474469602108e-05
        ],
        "location": [
            -998.116455078125,
            3045.662353515625,
            360.1396484375
        ],
        "rotation": [
            0.003241252154111862,
            -3.339381694793701,
            168.07093811035156
        ],
        "velocity": [
            -0.9725360870361328,
            0.20577210187911987,
            -0.053966257721185684
        ],
        "speed": 0.9940666972086447,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.59177017211914,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1012.4046020507812,
                3048.496826171875,
                359.2826843261719
            ],
            "velocity": [
                -1.1046961545944214,
                0.21857929229736328,
                -0.0534144826233387
            ],
            "speed_kmh": 4.058564716626169,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3028113842010498,
                "transform": {
                    "location": {
                        "x": -1027.156982421875,
                        "y": 3051.646240234375,
                        "z": 358.39801025390625
                    },
                    "rotation": {
                        "roll": 0.00317323743365705,
                        "pitch": -3.1791317462921143,
                        "yaw": 167.09178161621094
                    }
                },
                "velocity": {
                    "x": -1.2675693035125732,
                    "y": 0.29377925395965576,
                    "z": -0.06541803479194641
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1273791790008545,
                "transform": {
                    "location": {
                        "x": -1012.4046020507812,
                        "y": 3048.496826171875,
                        "z": 359.2826843261719
                    },
                    "rotation": {
                        "roll": -0.001831072149798274,
                        "pitch": -3.241395950317383,
                        "yaw": 168.8140106201172
                    }
                },
                "velocity": {
                    "x": -1.1046961545944214,
                    "y": 0.21857929229736328,
                    "z": -0.0534144826233387
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1553828716278076,
                "transform": {
                    "location": {
                        "x": -968.7261352539062,
                        "y": 3038.372802734375,
                        "z": 361.9231262207031
                    },
                    "rotation": {
                        "roll": -0.01199343428015709,
                        "pitch": -2.967560052871704,
                        "yaw": 164.0320281982422
                    }
                },
                "velocity": {
                    "x": -1.1137043237686157,
                    "y": 0.3032239079475403,
                    "z": -0.051259178668260574
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9866023659706116,
                "transform": {
                    "location": {
                        "x": -983.134765625,
                        "y": 3042.232177734375,
                        "z": 361.0433044433594
                    },
                    "rotation": {
                        "roll": -0.02029420994222164,
                        "pitch": -3.2234461307525635,
                        "yaw": 166.10910034179688
                    }
                },
                "velocity": {
                    "x": -0.9616219401359558,
                    "y": 0.21822506189346313,
                    "z": -0.03233056142926216
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02175528183579445,
        "expert_target_speed": 1.9599594979248849,
        "target_point": [
            50.617268125192076,
            -0.6513297059529766
        ],
        "target_point_next": [
            72.54200752655638,
            -2.4293681528759787
        ]
    },
    "20": {
        "acceleration": [
            -2.848646640777588,
            0.6121164560317993,
            -0.1703222095966339
        ],
        "angular_velocity": [
            -0.03839651867747307,
            0.27529290318489075,
            0.8165132403373718
        ],
        "forward_vector": [
            -0.9768669605255127,
            0.20656126737594604,
            -0.05534727871417999
        ],
        "right_vector": [
            -0.20687058568000793,
            -0.97836834192276,
            -0.00014379480853676796
        ],
        "location": [
            -998.4680786132812,
            3045.737060546875,
            360.1183776855469
        ],
        "rotation": [
            0.008251483552157879,
            -3.1727867126464844,
            168.06051635742188
        ],
        "velocity": [
            -1.7355732917785645,
            0.36890214681625366,
            -0.10369271785020828
        ],
        "speed": 1.774345920349446,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.683274269104004,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1012.846923828125,
                3048.584228515625,
                359.257568359375
            ],
            "velocity": [
                -2.308687448501587,
                0.4573143422603607,
                -0.13627098500728607
            ],
            "speed_kmh": 8.48695241257037,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.8323066234588623,
                "transform": {
                    "location": {
                        "x": -1027.67724609375,
                        "y": 3051.765625,
                        "z": 358.3679504394531
                    },
                    "rotation": {
                        "roll": 0.0008363177767023444,
                        "pitch": -3.0957624912261963,
                        "yaw": 167.07518005371094
                    }
                },
                "velocity": {
                    "x": -2.75601863861084,
                    "y": 0.6316757798194885,
                    "z": -0.1652502417564392
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3574867248535156,
                "transform": {
                    "location": {
                        "x": -1012.846923828125,
                        "y": 3048.584228515625,
                        "z": 359.257568359375
                    },
                    "rotation": {
                        "roll": -0.0007629165193066001,
                        "pitch": -3.201111316680908,
                        "yaw": 168.8154296875
                    }
                },
                "velocity": {
                    "x": -2.308687448501587,
                    "y": 0.4573143422603607,
                    "z": -0.13627098500728607
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.369257926940918,
                "transform": {
                    "location": {
                        "x": -969.1582641601562,
                        "y": 3038.4892578125,
                        "z": 361.8997497558594
                    },
                    "rotation": {
                        "roll": -0.0265197791159153,
                        "pitch": -2.950709819793701,
                        "yaw": 164.2967529296875
                    }
                },
                "velocity": {
                    "x": -2.2838971614837646,
                    "y": 0.6168995499610901,
                    "z": -0.12896282970905304
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9884625673294067,
                "transform": {
                    "location": {
                        "x": -983.5154418945312,
                        "y": 3042.31982421875,
                        "z": 361.02398681640625
                    },
                    "rotation": {
                        "roll": -0.036346424371004105,
                        "pitch": -3.035977840423584,
                        "yaw": 166.30694580078125
                    }
                },
                "velocity": {
                    "x": -1.9357126951217651,
                    "y": 0.4423399567604065,
                    "z": -0.10646805167198181
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.026524731889367104,
        "expert_target_speed": 2.728501900186701,
        "target_point": [
            50.25791391052866,
            -0.6417620490150249
        ],
        "target_point_next": [
            72.18297682106136,
            -2.415806835838648
        ]
    },
    "25": {
        "acceleration": [
            -4.393939971923828,
            0.9364855289459229,
            -0.2636986970901489
        ],
        "angular_velocity": [
            0.24860812723636627,
            0.4662063419818878,
            -0.7736142873764038
        ],
        "forward_vector": [
            -0.976854145526886,
            0.20707979798316956,
            -0.05360821262001991
        ],
        "right_vector": [
            -0.20736265182495117,
            -0.9782640933990479,
            -0.0002920394763350487
        ],
        "location": [
            -999.0192260742188,
            3045.854248046875,
            360.0848693847656
        ],
        "rotation": [
            0.016756724566221237,
            -3.072997570037842,
            168.03126525878906
        ],
        "velocity": [
            -2.6890664100646973,
            0.5723327398300171,
            -0.1621733456850052
        ],
        "speed": 2.7492986237983628,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.913520812988281,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1013.6251220703125,
                3048.73828125,
                359.2112121582031
            ],
            "velocity": [
                -3.8994081020355225,
                0.7726643085479736,
                -0.23249594867229462
            ],
            "speed_kmh": 14.335256072952062,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.460991382598877,
                "transform": {
                    "location": {
                        "x": -1028.5755615234375,
                        "y": 3051.971435546875,
                        "z": 358.31402587890625
                    },
                    "rotation": {
                        "roll": -0.011779816821217537,
                        "pitch": -3.0619189739227295,
                        "yaw": 167.08001708984375
                    }
                },
                "velocity": {
                    "x": -4.340413570404053,
                    "y": 0.9964081645011902,
                    "z": -0.26158612966537476
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.982015371322632,
                "transform": {
                    "location": {
                        "x": -1013.6251220703125,
                        "y": 3048.73828125,
                        "z": 359.2112121582031
                    },
                    "rotation": {
                        "roll": -0.004486073739826679,
                        "pitch": -3.1498098373413086,
                        "yaw": 168.81573486328125
                    }
                },
                "velocity": {
                    "x": -3.8994081020355225,
                    "y": 0.7726643085479736,
                    "z": -0.23249594867229462
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.976635217666626,
                "transform": {
                    "location": {
                        "x": -969.9216918945312,
                        "y": 3038.6943359375,
                        "z": 361.8562927246094
                    },
                    "rotation": {
                        "roll": -0.035766586661338806,
                        "pitch": -2.9581615924835205,
                        "yaw": 164.63436889648438
                    }
                },
                "velocity": {
                    "x": -3.8356754779815674,
                    "y": 1.0262155532836914,
                    "z": -0.21932226419448853
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2738864421844482,
                "transform": {
                    "location": {
                        "x": -984.1520385742188,
                        "y": 3042.466064453125,
                        "z": 360.9864807128906
                    },
                    "rotation": {
                        "roll": -0.048614490777254105,
                        "pitch": -2.9520554542541504,
                        "yaw": 166.60586547851562
                    }
                },
                "velocity": {
                    "x": -3.187102794647217,
                    "y": 0.724030077457428,
                    "z": -0.19101941585540771
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.030836185440421104,
        "expert_target_speed": 3.6987011247029193,
        "target_point": [
            49.69476669230722,
            -0.6157751361084784
        ],
        "target_point_next": [
            71.62073189464108,
            -2.378633179887574
        ]
    },
    "30": {
        "acceleration": [
            -5.113768577575684,
            1.1038696765899658,
            -0.3112679719924927
        ],
        "angular_velocity": [
            0.13623468577861786,
            0.40112611651420593,
            -0.11364265531301498
        ],
        "forward_vector": [
            -0.9768745303153992,
            0.20757868885993958,
            -0.051257189363241196
        ],
        "right_vector": [
            -0.20782198011875153,
            -0.9781665205955505,
            -0.0005956356762908399
        ],
        "location": [
            -999.8536987304688,
            3046.0322265625,
            360.0339050292969
        ],
        "rotation": [
            0.034172333776950836,
            -2.938108205795288,
            168.00350952148438
        ],
        "velocity": [
            -3.9547688961029053,
            0.8435301184654236,
            -0.23882247507572174
        ],
        "speed": 4.0437284877129525,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.24868106842041,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1014.7903442382812,
                3048.96875,
                359.1418762207031
            ],
            "velocity": [
                -5.336738109588623,
                1.0551260709762573,
                -0.31824949383735657
            ],
            "speed_kmh": 19.61763753655035,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.5260009765625,
                "transform": {
                    "location": {
                        "x": -1029.8321533203125,
                        "y": 3052.260009765625,
                        "z": 358.23876953125
                    },
                    "rotation": {
                        "roll": -0.01828003115952015,
                        "pitch": -3.1324408054351807,
                        "yaw": 167.10189819335938
                    }
                },
                "velocity": {
                    "x": -5.377045631408691,
                    "y": 1.2327066659927368,
                    "z": -0.3232662081718445
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.449343681335449,
                "transform": {
                    "location": {
                        "x": -1014.7903442382812,
                        "y": 3048.96875,
                        "z": 359.1418762207031
                    },
                    "rotation": {
                        "roll": -0.01928708702325821,
                        "pitch": -3.1494479179382324,
                        "yaw": 168.81228637695312
                    }
                },
                "velocity": {
                    "x": -5.336738109588623,
                    "y": 1.0551260709762573,
                    "z": -0.31824949383735657
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.448604583740234,
                "transform": {
                    "location": {
                        "x": -971.0687866210938,
                        "y": 3038.999267578125,
                        "z": 361.7908630371094
                    },
                    "rotation": {
                        "roll": -0.0429992601275444,
                        "pitch": -3.0537705421447754,
                        "yaw": 164.94570922851562
                    }
                },
                "velocity": {
                    "x": -5.258265972137451,
                    "y": 1.3958185911178589,
                    "z": -0.29937127232551575
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.73234748840332,
                "transform": {
                    "location": {
                        "x": -985.1395263671875,
                        "y": 3042.691162109375,
                        "z": 360.9266052246094
                    },
                    "rotation": {
                        "roll": -0.05456548184156418,
                        "pitch": -2.848017930984497,
                        "yaw": 166.91436767578125
                    }
                },
                "velocity": {
                    "x": -4.60784912109375,
                    "y": 1.041660189628601,
                    "z": -0.278895765542984
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03832653537392616,
        "expert_target_speed": 4.981996860519952,
        "target_point": [
            48.84181798040196,
            -0.5910542821407159
        ],
        "target_point_next": [
            70.76863465536394,
            -2.3432897226800904
        ]
    },
    "35": {
        "acceleration": [
            -4.710321426391602,
            1.020512580871582,
            -0.23621976375579834
        ],
        "angular_velocity": [
            0.05041169002652168,
            -0.017738724127411842,
            -0.1514294445514679
        ],
        "forward_vector": [
            -0.9767511487007141,
            0.20831610262393951,
            -0.050611913204193115
        ],
        "right_vector": [
            -0.20853984355926514,
            -0.9780135154724121,
            -0.0008777783950790763
        ],
        "location": [
            -1000.9996948242188,
            3046.277099609375,
            359.9647521972656
        ],
        "rotation": [
            0.05035754293203354,
            -2.9010884761810303,
            167.9606475830078
        ],
        "velocity": [
            -5.151693820953369,
            1.1027376651763916,
            -0.308979332447052
        ],
        "speed": 5.268394402761415,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.461695671081543,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1016.1484375,
                3049.237060546875,
                359.0601806640625
            ],
            "velocity": [
                -5.531631946563721,
                1.0933079719543457,
                -0.33122342824935913
            ],
            "speed_kmh": 20.334100010099554,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.806821823120117,
                "transform": {
                    "location": {
                        "x": -1031.2115478515625,
                        "y": 3052.575927734375,
                        "z": 358.1558532714844
                    },
                    "rotation": {
                        "roll": -0.028350818902254105,
                        "pitch": -3.2655951976776123,
                        "yaw": 167.07386779785156
                    }
                },
                "velocity": {
                    "x": -5.650120258331299,
                    "y": 1.2964999675750732,
                    "z": -0.3382408022880554
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.6483612060546875,
                "transform": {
                    "location": {
                        "x": -1016.1484375,
                        "y": 3049.237060546875,
                        "z": 359.0601806640625
                    },
                    "rotation": {
                        "roll": -0.026733409613370895,
                        "pitch": -3.2844533920288086,
                        "yaw": 168.86016845703125
                    }
                },
                "velocity": {
                    "x": -5.531631946563721,
                    "y": 1.0933079719543457,
                    "z": -0.33122342824935913
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.647527694702148,
                "transform": {
                    "location": {
                        "x": -972.406005859375,
                        "y": 3039.35302734375,
                        "z": 361.71112060546875
                    },
                    "rotation": {
                        "roll": -0.04815678671002388,
                        "pitch": -3.2634572982788086,
                        "yaw": 165.13998413085938
                    }
                },
                "velocity": {
                    "x": -5.451370716094971,
                    "y": 1.438090205192566,
                    "z": -0.330180823802948
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.412443161010742,
                "transform": {
                    "location": {
                        "x": -986.4118041992188,
                        "y": 3042.979248046875,
                        "z": 360.8504333496094
                    },
                    "rotation": {
                        "roll": -0.056884799152612686,
                        "pitch": -3.0049688816070557,
                        "yaw": 167.1448516845703
                    }
                },
                "velocity": {
                    "x": -5.2711968421936035,
                    "y": 1.1861422061920166,
                    "z": -0.3195209503173828
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05096470192074776,
        "expert_target_speed": 6.163173191659161,
        "target_point": [
            47.67038036368145,
            -0.554083850618742
        ],
        "target_point_next": [
            69.598501022245,
            -2.2899245460603836
        ]
    },
    "40": {
        "acceleration": [
            -0.9531116485595703,
            0.22318363189697266,
            -0.03516554832458496
        ],
        "angular_velocity": [
            -0.15013056993484497,
            -0.8362640738487244,
            -0.21690289676189423
        ],
        "forward_vector": [
            -0.9763123393058777,
            0.2091360241174698,
            -0.055464278906583786
        ],
        "right_vector": [
            -0.20940499007701874,
            -0.9778285026550293,
            -0.0009824642911553383
        ],
        "location": [
            -1002.3031005859375,
            3046.556396484375,
            359.8869323730469
        ],
        "rotation": [
            0.056377846747636795,
            -3.1795005798339844,
            167.9093780517578
        ],
        "velocity": [
            -5.29298210144043,
            1.137307047843933,
            -0.32018759846687317
        ],
        "speed": 5.413790432519921,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.831206321716309,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1017.8175048828125,
                3049.568359375,
                358.9604187011719
            ],
            "velocity": [
                -7.599304676055908,
                1.5438458919525146,
                -0.4559328258037567
            ],
            "speed_kmh": 27.964554941084426,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.41016960144043,
                "transform": {
                    "location": {
                        "x": -1033.007568359375,
                        "y": 3052.993408203125,
                        "z": 358.04925537109375
                    },
                    "rotation": {
                        "roll": 0.01588880456984043,
                        "pitch": -2.9194891452789307,
                        "yaw": 166.85415649414062
                    }
                },
                "velocity": {
                    "x": -8.168131828308105,
                    "y": 1.9436492919921875,
                    "z": -0.484567254781723
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.767931938171387,
                "transform": {
                    "location": {
                        "x": -1017.8175048828125,
                        "y": 3049.568359375,
                        "z": 358.9604187011719
                    },
                    "rotation": {
                        "roll": -0.01464842353016138,
                        "pitch": -3.11376690864563,
                        "yaw": 168.77552795410156
                    }
                },
                "velocity": {
                    "x": -7.599304676055908,
                    "y": 1.5438458919525146,
                    "z": -0.4559328258037567
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.151124477386475,
                "transform": {
                    "location": {
                        "x": -974.0162353515625,
                        "y": 3039.776123046875,
                        "z": 361.6138916015625
                    },
                    "rotation": {
                        "roll": -0.036346495151519775,
                        "pitch": -3.219109058380127,
                        "yaw": 165.27024841308594
                    }
                },
                "velocity": {
                    "x": -6.90675163269043,
                    "y": 1.8054441213607788,
                    "z": -0.41921454668045044
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.705944061279297,
                "transform": {
                    "location": {
                        "x": -987.844970703125,
                        "y": 3043.3017578125,
                        "z": 360.7633056640625
                    },
                    "rotation": {
                        "roll": -0.05084232613444328,
                        "pitch": -2.942049264907837,
                        "yaw": 167.28677368164062
                    }
                },
                "velocity": {
                    "x": -6.532104969024658,
                    "y": 1.464184284210205,
                    "z": -0.3968062102794647
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08006525039672852,
        "expert_target_speed": 6.365998398461981,
        "target_point": [
            46.337863071213015,
            -0.5113246513415532
        ],
        "target_point_next": [
            68.26752856457237,
            -2.2275384742192266
        ]
    },
    "45": {
        "acceleration": [
            -5.01591682434082,
            1.1041975021362305,
            -0.3016650676727295
        ],
        "angular_velocity": [
            0.18232309818267822,
            0.5238867998123169,
            -0.22859929502010345
        ],
        "forward_vector": [
            -0.9763516783714294,
            0.21014845371246338,
            -0.05074489861726761
        ],
        "right_vector": [
            -0.2103540003299713,
            -0.9776243567466736,
            -0.0013155940687283874
        ],
        "location": [
            -1003.8544311523438,
            3046.890625,
            359.7921447753906
        ],
        "rotation": [
            0.07547524571418762,
            -2.9087178707122803,
            167.85305786132812
        ],
        "velocity": [
            -6.939586639404297,
            1.4975590705871582,
            -0.4197009205818176
        ],
        "speed": 7.099334186787976,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.291597366333008,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1019.8214111328125,
                3049.9833984375,
                358.8400573730469
            ],
            "velocity": [
                -8.186508178710938,
                1.7135882377624512,
                -0.4905557930469513
            ],
            "speed_kmh": 30.16188749896944,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.179933547973633,
                "transform": {
                    "location": {
                        "x": -1035.0477294921875,
                        "y": 3053.483642578125,
                        "z": 357.92901611328125
                    },
                    "rotation": {
                        "roll": 0.01342175155878067,
                        "pitch": -3.197436809539795,
                        "yaw": 166.455078125
                    }
                },
                "velocity": {
                    "x": -7.937680721282959,
                    "y": 1.921510934829712,
                    "z": -0.4607897698879242
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.378301620483398,
                "transform": {
                    "location": {
                        "x": -1019.8214111328125,
                        "y": 3049.9833984375,
                        "z": 358.8400573730469
                    },
                    "rotation": {
                        "roll": 0.00443696416914463,
                        "pitch": -3.243274211883545,
                        "yaw": 168.27268981933594
                    }
                },
                "velocity": {
                    "x": -8.186508178710938,
                    "y": 1.7135882377624512,
                    "z": -0.4905557930469513
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.2983078956604,
                "transform": {
                    "location": {
                        "x": -975.6017456054688,
                        "y": 3040.188720703125,
                        "z": 361.5163879394531
                    },
                    "rotation": {
                        "roll": -0.045532241463661194,
                        "pitch": -3.572052240371704,
                        "yaw": 165.5442352294922
                    }
                },
                "velocity": {
                    "x": -5.119239807128906,
                    "y": 1.3292580842971802,
                    "z": -0.313885360956192
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.855514049530029,
                "transform": {
                    "location": {
                        "x": -989.5491333007812,
                        "y": 3043.68115234375,
                        "z": 360.6607360839844
                    },
                    "rotation": {
                        "roll": -0.048034653067588806,
                        "pitch": -3.152425765991211,
                        "yaw": 167.4537811279297
                    }
                },
                "velocity": {
                    "x": -6.68245267868042,
                    "y": 1.476188063621521,
                    "z": -0.40467771887779236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11108548194169998,
        "expert_target_speed": 8.012028367989728,
        "target_point": [
            44.751417112000766,
            -0.46544736222660354
        ],
        "target_point_next": [
            66.68275945178063,
            -2.1600982737277583
        ]
    },
    "50": {
        "acceleration": [
            -5.607929229736328,
            1.2599587440490723,
            -0.33569633960723877
        ],
        "angular_velocity": [
            0.08985842019319534,
            0.13544981181621552,
            -0.2758907079696655
        ],
        "forward_vector": [
            -0.9761635065078735,
            0.21131514012813568,
            -0.049504779279232025
        ],
        "right_vector": [
            -0.21150407195091248,
            -0.9773759841918945,
            -0.0014503990532830358
        ],
        "location": [
            -1005.764404296875,
            3047.3037109375,
            359.6763916015625
        ],
        "rotation": [
            0.08320379257202148,
            -2.8375747203826904,
            167.7853546142578
        ],
        "velocity": [
            -8.284139633178711,
            1.797930121421814,
            -0.5003275275230408
        ],
        "speed": 8.47699959794255,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.346101760864258,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1021.7865600585938,
                3050.39794921875,
                358.7218017578125
            ],
            "velocity": [
                -7.520251750946045,
                1.5965113639831543,
                -0.45157819986343384
            ],
            "speed_kmh": 27.723963878451816,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.865390777587891,
                "transform": {
                    "location": {
                        "x": -1036.974365234375,
                        "y": 3053.951904296875,
                        "z": 357.81768798828125
                    },
                    "rotation": {
                        "roll": -0.005920407362282276,
                        "pitch": -3.244995355606079,
                        "yaw": 166.33778381347656
                    }
                },
                "velocity": {
                    "x": -7.629702568054199,
                    "y": 1.8600437641143799,
                    "z": -0.43846213817596436
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.701100826263428,
                "transform": {
                    "location": {
                        "x": -1021.7865600585938,
                        "y": 3050.39794921875,
                        "z": 358.7218017578125
                    },
                    "rotation": {
                        "roll": -0.007598870899528265,
                        "pitch": -3.4249844551086426,
                        "yaw": 168.02828979492188
                    }
                },
                "velocity": {
                    "x": -7.520251750946045,
                    "y": 1.5965113639831543,
                    "z": -0.45157819986343384
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00409683957695961,
                "transform": {
                    "location": {
                        "x": -976.073486328125,
                        "y": 3040.3115234375,
                        "z": 361.4864501953125
                    },
                    "rotation": {
                        "roll": -0.05548093095421791,
                        "pitch": -4.121486186981201,
                        "yaw": 165.71832275390625
                    }
                },
                "velocity": {
                    "x": 0.003887343220412731,
                    "y": -0.0012389423791319132,
                    "z": 0.00037105096271261573
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.209688186645508,
                "transform": {
                    "location": {
                        "x": -990.8917236328125,
                        "y": 3043.977783203125,
                        "z": 360.5827331542969
                    },
                    "rotation": {
                        "roll": -0.038421615958213806,
                        "pitch": -4.123897075653076,
                        "yaw": 167.54470825195312
                    }
                },
                "velocity": {
                    "x": -4.104131698608398,
                    "y": 0.902129054069519,
                    "z": -0.2524721920490265
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1257888376712799,
        "expert_target_speed": 9.23918344203271,
        "target_point": [
            42.79780246413438,
            -0.41293514669721176
        ],
        "target_point_next": [
            64.73113189706729,
            -2.081670752750906
        ]
    },
    "55": {
        "acceleration": [
            -6.414890289306641,
            1.1889266967773438,
            -0.3943467140197754
        ],
        "angular_velocity": [
            -0.1789090782403946,
            0.881460428237915,
            0.7757667899131775
        ],
        "forward_vector": [
            -0.9761491417884827,
            0.211341992020607,
            -0.04967253655195236
        ],
        "right_vector": [
            -0.21155451238155365,
            -0.9773657321929932,
            -0.000999807263724506
        ],
        "location": [
            -1007.9369506835938,
            3047.7744140625,
            359.54547119140625
        ],
        "rotation": [
            0.057355549186468124,
            -2.847198247909546,
            167.78367614746094
        ],
        "velocity": [
            -9.479230880737305,
            2.0374197959899902,
            -0.5718680620193481
        ],
        "speed": 9.695715420504854,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.992547988891602,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1023.6143798828125,
                3050.79248046875,
                358.6121520996094
            ],
            "velocity": [
                -7.326453685760498,
                1.6113979816436768,
                -0.4410717785358429
            ],
            "speed_kmh": 27.05228650349965,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.188629150390625,
                "transform": {
                    "location": {
                        "x": -1038.922119140625,
                        "y": 3054.440185546875,
                        "z": 357.7067565917969
                    },
                    "rotation": {
                        "roll": 0.024741536006331444,
                        "pitch": -3.1183431148529053,
                        "yaw": 165.8902587890625
                    }
                },
                "velocity": {
                    "x": -7.925284385681152,
                    "y": 2.010234832763672,
                    "z": -0.44996291399002075
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.514523983001709,
                "transform": {
                    "location": {
                        "x": -1023.6143798828125,
                        "y": 3050.79248046875,
                        "z": 358.6121520996094
                    },
                    "rotation": {
                        "roll": 0.009524253197014332,
                        "pitch": -3.4188168048858643,
                        "yaw": 167.77090454101562
                    }
                },
                "velocity": {
                    "x": -7.326453685760498,
                    "y": 1.6113979816436768,
                    "z": -0.4410717785358429
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4505406618118286,
                "transform": {
                    "location": {
                        "x": -976.2796630859375,
                        "y": 3040.364501953125,
                        "z": 361.47479248046875
                    },
                    "rotation": {
                        "roll": -0.03674314171075821,
                        "pitch": -3.443904161453247,
                        "yaw": 165.627685546875
                    }
                },
                "velocity": {
                    "x": -1.4024603366851807,
                    "y": 0.3604680597782135,
                    "z": -0.0850636437535286
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.238360404968262,
                "transform": {
                    "location": {
                        "x": -992.0368041992188,
                        "y": 3044.229736328125,
                        "z": 360.51116943359375
                    },
                    "rotation": {
                        "roll": -0.020355224609375,
                        "pitch": -3.5589518547058105,
                        "yaw": 167.5825958251953
                    }
                },
                "velocity": {
                    "x": -5.107956886291504,
                    "y": 1.1205395460128784,
                    "z": -0.3059225082397461
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14493800699710846,
        "expert_target_speed": 10.259625641651557,
        "target_point": [
            40.57486185871065,
            -0.4113429439103591
        ],
        "target_point_next": [
            62.50824061639736,
            -2.0794301143933325
        ]
    },
    "60": {
        "acceleration": [
            -4.0979766845703125,
            0.6626558303833008,
            -0.21420598030090332
        ],
        "angular_velocity": [
            -0.18040241301059723,
            -0.3503194749355316,
            1.1148868799209595
        ],
        "forward_vector": [
            -0.9770587682723999,
            0.20698976516723633,
            -0.05011401325464249
        ],
        "right_vector": [
            -0.20724163949489594,
            -0.978289783000946,
            -0.00017399618809577078
        ],
        "location": [
            -1010.4570922851562,
            3048.310791015625,
            359.3936767578125
        ],
        "rotation": [
            0.009981789626181126,
            -2.8725247383117676,
            168.0387420654297
        ],
        "velocity": [
            -10.571737289428711,
            2.224956750869751,
            -0.6359661221504211
        ],
        "speed": 10.803335682090896,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.388284683227539,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1025.541015625,
                3051.220947265625,
                358.49615478515625
            ],
            "velocity": [
                -7.972990036010742,
                1.785500168800354,
                -0.47807708382606506
            ],
            "speed_kmh": 29.464001715668097,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05583667755127,
                "transform": {
                    "location": {
                        "x": -1040.8931884765625,
                        "y": 3054.942626953125,
                        "z": 357.5965881347656
                    },
                    "rotation": {
                        "roll": 0.006641968619078398,
                        "pitch": -3.117400646209717,
                        "yaw": 165.6900177001953
                    }
                },
                "velocity": {
                    "x": -7.792526721954346,
                    "y": 1.9958884716033936,
                    "z": -0.43527212738990784
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.184444427490234,
                "transform": {
                    "location": {
                        "x": -1025.541015625,
                        "y": 3051.220947265625,
                        "z": 358.49615478515625
                    },
                    "rotation": {
                        "roll": 0.013253381475806236,
                        "pitch": -3.317566156387329,
                        "yaw": 167.4198455810547
                    }
                },
                "velocity": {
                    "x": -7.972990036010742,
                    "y": 1.785500168800354,
                    "z": -0.47807708382606506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.495582342147827,
                "transform": {
                    "location": {
                        "x": -976.7457885742188,
                        "y": 3040.484619140625,
                        "z": 361.4465637207031
                    },
                    "rotation": {
                        "roll": -0.02630612440407276,
                        "pitch": -3.2817349433898926,
                        "yaw": 165.61769104003906
                    }
                },
                "velocity": {
                    "x": -2.412698745727539,
                    "y": 0.6204478144645691,
                    "z": -0.14785289764404297
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.459946632385254,
                "transform": {
                    "location": {
                        "x": -993.351318359375,
                        "y": 3044.51611328125,
                        "z": 360.4308166503906
                    },
                    "rotation": {
                        "roll": -0.035308800637722015,
                        "pitch": -3.374147415161133,
                        "yaw": 167.6807861328125
                    }
                },
                "velocity": {
                    "x": -5.3295440673828125,
                    "y": 1.1413352489471436,
                    "z": -0.32300397753715515
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14191831648349762,
        "expert_target_speed": 11.166249453849119,
        "target_point": [
            37.99603988454326,
            -0.5895538676868206
        ],
        "target_point_next": [
            59.92177457637206,
            -2.355276597904499
        ]
    },
    "65": {
        "acceleration": [
            -3.473339080810547,
            0.5807065963745117,
            -0.19663691520690918
        ],
        "angular_velocity": [
            -0.08566579967737198,
            -0.2551194131374359,
            0.8844002485275269
        ],
        "forward_vector": [
            -0.977958083152771,
            0.202375590801239,
            -0.05140124261379242
        ],
        "right_vector": [
            -0.20267167687416077,
            -0.9792465567588806,
            0.0005601196899078786
        ],
        "location": [
            -1013.2208862304688,
            3048.88671875,
            359.2278137207031
        ],
        "rotation": [
            -0.032134976238012314,
            -2.9463727474212646,
            168.30841064453125
        ],
        "velocity": [
            -11.499995231628418,
            2.371853828430176,
            -0.6910872459411621
        ],
        "speed": 11.742043302207467,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.55765438079834,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1027.48681640625,
                3051.659423828125,
                358.37890625
            ],
            "velocity": [
                -7.5416436195373535,
                1.7267581224441528,
                -0.45750951766967773
            ],
            "speed_kmh": 27.901137357634116,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.019452095031738,
                "transform": {
                    "location": {
                        "x": -1042.8287353515625,
                        "y": 3055.442626953125,
                        "z": 357.4898986816406
                    },
                    "rotation": {
                        "roll": 0.024119170382618904,
                        "pitch": -3.0641729831695557,
                        "yaw": 165.45608520507812
                    }
                },
                "velocity": {
                    "x": -7.745150566101074,
                    "y": 2.0360305309295654,
                    "z": -0.42287978529930115
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.750316143035889,
                "transform": {
                    "location": {
                        "x": -1027.48681640625,
                        "y": 3051.659423828125,
                        "z": 358.37890625
                    },
                    "rotation": {
                        "roll": 0.009524849243462086,
                        "pitch": -3.416965961456299,
                        "yaw": 167.2764434814453
                    }
                },
                "velocity": {
                    "x": -7.5416436195373535,
                    "y": 1.7267581224441528,
                    "z": -0.45750951766967773
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.109972953796387,
                "transform": {
                    "location": {
                        "x": -977.54833984375,
                        "y": 3040.691162109375,
                        "z": 361.3974914550781
                    },
                    "rotation": {
                        "roll": -0.01638798974454403,
                        "pitch": -3.1781277656555176,
                        "yaw": 165.59934997558594
                    }
                },
                "velocity": {
                    "x": -3.9735488891601562,
                    "y": 1.0214667320251465,
                    "z": -0.2437029927968979
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.375149250030518,
                "transform": {
                    "location": {
                        "x": -994.9632568359375,
                        "y": 3044.8603515625,
                        "z": 360.3315124511719
                    },
                    "rotation": {
                        "roll": -0.0455627366900444,
                        "pitch": -2.925349473953247,
                        "yaw": 167.9170684814453
                    }
                },
                "velocity": {
                    "x": -7.201993465423584,
                    "y": 1.5272579193115234,
                    "z": -0.43772751092910767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.36324769258499146,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12385448068380356,
        "expert_target_speed": 11.709482193648984,
        "target_point": [
            35.16968406581001,
            -0.7644555383521432
        ],
        "target_point_next": [
            57.08686579382913,
            -2.6333492318127707
        ]
    },
    "70": {
        "acceleration": [
            -3.1138992309570312,
            0.7809925079345703,
            -0.19184350967407227
        ],
        "angular_velocity": [
            0.09596274048089981,
            -0.1952604353427887,
            -0.7036746740341187
        ],
        "forward_vector": [
            -0.9778481125831604,
            0.20263707637786865,
            -0.05245232209563255
        ],
        "right_vector": [
            -0.20291894674301147,
            -0.9791955351829529,
            4.9466732889413834e-05
        ],
        "location": [
            -1016.203125,
            3049.50390625,
            359.0491027832031
        ],
        "rotation": [
            -0.0028381417505443096,
            -3.006676435470581,
            168.29244995117188
        ],
        "velocity": [
            -12.300971031188965,
            2.559101104736328,
            -0.7386471629142761
        ],
        "speed": 12.56434983492631,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.417269706726074,
        "front_vehicle_info": {
            "id": 3762,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1029.3453369140625,
                3052.091064453125,
                358.26678466796875
            ],
            "velocity": [
                -7.50449800491333,
                1.7580050230026245,
                -0.45062246918678284
            ],
            "speed_kmh": 27.794968576884024,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 3761,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.110398292541504,
                "transform": {
                    "location": {
                        "x": -1044.779541015625,
                        "y": 3055.960205078125,
                        "z": 357.3840026855469
                    },
                    "rotation": {
                        "roll": 0.021593306213617325,
                        "pitch": -2.9814388751983643,
                        "yaw": 165.1397247314453
                    }
                },
                "velocity": {
                    "x": -7.825483322143555,
                    "y": 2.0891594886779785,
                    "z": -0.41926878690719604
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3762,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.720824241638184,
                "transform": {
                    "location": {
                        "x": -1029.3453369140625,
                        "y": 3052.091064453125,
                        "z": 358.26678466796875
                    },
                    "rotation": {
                        "roll": 0.015756919980049133,
                        "pitch": -3.393913984298706,
                        "yaw": 166.87486267089844
                    }
                },
                "velocity": {
                    "x": -7.50449800491333,
                    "y": 1.7580050230026245,
                    "z": -0.45062246918678284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.379925727844238,
                "transform": {
                    "location": {
                        "x": -978.723876953125,
                        "y": 3040.99267578125,
                        "z": 361.3258972167969
                    },
                    "rotation": {
                        "roll": -0.025085413828492165,
                        "pitch": -3.198789119720459,
                        "yaw": 165.60557556152344
                    }
                },
                "velocity": {
                    "x": -5.206244468688965,
                    "y": 1.3185689449310303,
                    "z": -0.3162197172641754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.442885398864746,
                "transform": {
                    "location": {
                        "x": -996.9370727539062,
                        "y": 3045.278564453125,
                        "z": 360.2119445800781
                    },
                    "rotation": {
                        "roll": -0.017395032569766045,
                        "pitch": -2.918027400970459,
                        "yaw": 168.03977966308594
                    }
                },
                "velocity": {
                    "x": -8.246406555175781,
                    "y": 1.740841031074524,
                    "z": -0.4985717535018921
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1106303259730339,
        "expert_target_speed": 11.993727187585774,
        "target_point": [
            32.124461646780205,
            -0.7554573260512791
        ],
        "target_point_next": [
            54.042162961232385,
            -2.618247605962903
        ]
    },
    "75": {
        "acceleration": [
            -3.326129913330078,
            0.9070682525634766,
            -0.18559694290161133
        ],
        "angular_velocity": [
            -0.01048420649021864,
            -0.020262697711586952,
            -0.8915475606918335
        ],
        "forward_vector": [
            -0.9770722985267639,
            0.20618954300880432,
            -0.053061939775943756
        ],
        "right_vector": [
            -0.20645549893379211,
            -0.9784558415412903,
            -0.0004790378443431109
        ],
        "location": [
            -1019.3800048828125,
            3050.169677734375,
            358.8584289550781
        ],
        "rotation": [
            0.027485568076372147,
            -3.041653871536255,
            168.08383178710938
        ],
        "velocity": [
            -13.102582931518555,
            2.771250009536743,
            -0.7865821719169617
        ],
        "speed": 13.39244212579165,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4663334786891937,
                "transform": {
                    "location": {
                        "x": -1040.4718017578125,
                        "y": 3074.650146484375,
                        "z": 356.44781494140625
                    },
                    "rotation": {
                        "roll": -0.00030517615959979594,
                        "pitch": -0.5604579448699951,
                        "yaw": 178.72023010253906
                    }
                },
                "velocity": {
                    "x": 0.004224528558552265,
                    "y": -0.00012996721488889307,
                    "z": -0.46631431579589844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3772,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1303.359130859375,
                        "y": 3080.657470703125,
                        "z": 346.4324035644531
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1253.223876953125,
                        "y": 3079.40283203125,
                        "z": 348.44720458984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1217.546630859375,
                        "y": 3078.60595703125,
                        "z": 350.1965637207031
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1191.1639404296875,
                        "y": 3078.0166015625,
                        "z": 351.63604736328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.4930419921875,
                        "y": 3077.04052734375,
                        "z": 353.44525146484375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1110.0823974609375,
                        "y": 3076.204833984375,
                        "z": 354.8349609375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43932825326919556,
                "transform": {
                    "location": {
                        "x": -1066.5379638671875,
                        "y": 3075.232666015625,
                        "z": 356.0399169921875
                    },
                    "rotation": {
                        "roll": 0.0015844645677134395,
                        "pitch": -1.1727570295333862,
                        "yaw": 178.72010803222656
                    }
                },
                "velocity": {
                    "x": 0.008382221683859825,
                    "y": -0.00024579037562943995,
                    "z": -0.4392482042312622
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5738630294799805,
                "transform": {
                    "location": {
                        "x": -980.048583984375,
                        "y": 3041.326171875,
                        "z": 361.24462890625
                    },
                    "rotation": {
                        "roll": -0.0235595740377903,
                        "pitch": -3.3438966274261475,
                        "yaw": 165.83995056152344
                    }
                },
                "velocity": {
                    "x": -5.396744728088379,
                    "y": 1.3541169166564941,
                    "z": -0.33084821701049805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.617419242858887,
                "transform": {
                    "location": {
                        "x": -999.1974487304688,
                        "y": 3045.750244140625,
                        "z": 360.0753173828125
                    },
                    "rotation": {
                        "roll": -0.05856325104832649,
                        "pitch": -2.898465633392334,
                        "yaw": 168.2825927734375
                    }
                },
                "velocity": {
                    "x": -9.404748916625977,
                    "y": 1.9296804666519165,
                    "z": -0.5672627091407776
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1024504080414772,
        "expert_target_speed": 20.0,
        "target_point": [
            28.881110180664827,
            -0.6430201060255758
        ],
        "target_point_next": [
            50.805448848705595,
            -2.425993046236645
        ]
    },
    "80": {
        "acceleration": [
            -3.4590530395507812,
            1.0248374938964844,
            -0.1648426055908203
        ],
        "angular_velocity": [
            0.16654765605926514,
            0.002831727731972933,
            -1.189604640007019
        ],
        "forward_vector": [
            -0.9761207103729248,
            0.21072269976139069,
            -0.052765171974897385
        ],
        "right_vector": [
            -0.210964635014534,
            -0.9774931073188782,
            -0.0010052327997982502
        ],
        "location": [
            -1022.7662963867188,
            3050.893310546875,
            358.6548767089844
        ],
        "rotation": [
            0.05767595022916794,
            -3.0246262550354004,
            167.8180694580078
        ],
        "velocity": [
            -13.955241203308105,
            3.0184757709503174,
            -0.8373696804046631
        ],
        "speed": 14.277953390536137,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 154.80836486816406,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1169.9354248046875,
                3098.54736328125,
                352.6575012207031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": -1026.271484375,
                        "y": 3077.834228515625,
                        "z": 356.64306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 5.211603926191799e-10,
                    "y": -1.1642196755257128e-11,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.098054885864258,
                "transform": {
                    "location": {
                        "x": -1026.1932373046875,
                        "y": 3081.3330078125,
                        "z": 356.64666748046875
                    },
                    "rotation": {
                        "roll": -0.00036621064646169543,
                        "pitch": -0.2639116644859314,
                        "yaw": 178.72023010253906
                    }
                },
                "velocity": {
                    "x": 0.00922571960836649,
                    "y": 0.0009111891267821193,
                    "z": -2.098034381866455
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.0137939453125,
                        "y": 3095.04833984375,
                        "z": 352.6575012207031
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.9354248046875,
                        "y": 3098.54736328125,
                        "z": 352.6575012207031
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.8572998046875,
                        "y": 3102.04638671875,
                        "z": 352.6575012207031
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.7791748046875,
                        "y": 3105.545654296875,
                        "z": 352.6575012207031
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1385.13525390625,
                        "y": 3086.510498046875,
                        "z": 345.71014404296875
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1385.171875,
                        "y": 3090.033935546875,
                        "z": 345.6581115722656
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1384.8048095703125,
                        "y": 3093.5146484375,
                        "z": 345.65771484375
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09781407564878464,
                "transform": {
                    "location": {
                        "x": -1040.4718017578125,
                        "y": 3074.650146484375,
                        "z": 356.4405517578125
                    },
                    "rotation": {
                        "roll": 6.724657578160986e-05,
                        "pitch": -0.5548093914985657,
                        "yaw": 178.72023010253906
                    }
                },
                "velocity": {
                    "x": -0.00094400136731565,
                    "y": -8.196867565857247e-05,
                    "z": 0.09780948609113693
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3772,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1307.6011962890625,
                        "y": 3080.82470703125,
                        "z": 346.2437744140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1257.46435546875,
                        "y": 3079.497802734375,
                        "z": 348.1874084472656
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1221.78759765625,
                        "y": 3078.7001953125,
                        "z": 349.9605712890625
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1195.40380859375,
                        "y": 3078.11083984375,
                        "z": 351.390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.735107421875,
                        "y": 3077.135498046875,
                        "z": 353.2801208496094
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1114.322998046875,
                        "y": 3076.300048828125,
                        "z": 354.64306640625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027347058057785034,
                "transform": {
                    "location": {
                        "x": -1066.5374755859375,
                        "y": 3075.232666015625,
                        "z": 356.0155029296875
                    },
                    "rotation": {
                        "roll": 1.1001347047567833e-05,
                        "pitch": -1.1820939779281616,
                        "yaw": 178.7200164794922
                    }
                },
                "velocity": {
                    "x": -0.0006104662897996604,
                    "y": 2.8551834475365467e-05,
                    "z": 0.027340229600667953
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.899656772613525,
                "transform": {
                    "location": {
                        "x": -981.7486572265625,
                        "y": 3041.75244140625,
                        "z": 361.1408996582031
                    },
                    "rotation": {
                        "roll": -0.005249030888080597,
                        "pitch": -3.144127130508423,
                        "yaw": 165.881591796875
                    }
                },
                "velocity": {
                    "x": -7.64978551864624,
                    "y": 1.914569616317749,
                    "z": -0.468810111284256
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.80195426940918,
                "transform": {
                    "location": {
                        "x": -1001.4443359375,
                        "y": 3046.209228515625,
                        "z": 359.9418029785156
                    },
                    "rotation": {
                        "roll": -0.030822766944766045,
                        "pitch": -3.4631857872009277,
                        "yaw": 168.5079345703125
                    }
                },
                "velocity": {
                    "x": -8.611222267150879,
                    "y": 1.7464942932128906,
                    "z": -0.5205808281898499
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08106490969657898,
        "expert_target_speed": 20.0,
        "target_point": [
            25.421042814029946,
            -0.5162799530996152
        ],
        "target_point_next": [
            47.3534154015466,
            -2.1975447207137435
        ]
    },
    "85": {
        "acceleration": [
            -3.620433807373047,
            1.3411808013916016,
            -0.21909475326538086
        ],
        "angular_velocity": [
            0.27420705556869507,
            0.003254418261349201,
            -1.8986637592315674
        ],
        "forward_vector": [
            -0.9748073816299438,
            0.2167586386203766,
            -0.05259648710489273
        ],
        "right_vector": [
            -0.2169763594865799,
            -0.9761756062507629,
            -0.0016032055718824267
        ],
        "location": [
            -1026.37060546875,
            3051.68310546875,
            358.4379577636719
        ],
        "rotation": [
            0.09198427200317383,
            -3.0149478912353516,
            167.46363830566406
        ],
        "velocity": [
            -14.8474702835083,
            3.31097412109375,
            -0.8943704962730408
        ],
        "speed": 15.212163667612,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 149.14356994628906,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1167.8575439453125,
                3098.5009765625,
                352.6640930175781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.1554071009159088,
                "transform": {
                    "location": {
                        "x": -1026.2706298828125,
                        "y": 3077.834228515625,
                        "z": 356.52545166015625
                    },
                    "rotation": {
                        "roll": 5.181725646252744e-05,
                        "pitch": -0.30761805176734924,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": -0.0007201225962489843,
                    "y": 9.261664672521874e-05,
                    "z": 0.15540540218353271
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1397784948348999,
                "transform": {
                    "location": {
                        "x": -1026.1925048828125,
                        "y": 3081.3330078125,
                        "z": 356.564208984375
                    },
                    "rotation": {
                        "roll": -0.0007629391038790345,
                        "pitch": -0.29974284768104553,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": -0.0007061667856760323,
                    "y": -2.9514905691030435e-05,
                    "z": 0.13977670669555664
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.9359130859375,
                        "y": 3095.00146484375,
                        "z": 352.6640930175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.8575439453125,
                        "y": 3098.5009765625,
                        "z": 352.6640930175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.7794189453125,
                        "y": 3102.0,
                        "z": 352.6640930175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.7012939453125,
                        "y": 3105.498779296875,
                        "z": 352.6640930175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.3746337890625,
                        "y": 3086.643310546875,
                        "z": 345.6673278808594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.414306640625,
                        "y": 3090.16845703125,
                        "z": 345.6722717285156
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.047119140625,
                        "y": 3093.64892578125,
                        "z": 345.6720275878906
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020807422697544098,
                "transform": {
                    "location": {
                        "x": -1040.4720458984375,
                        "y": 3074.650146484375,
                        "z": 356.4549865722656
                    },
                    "rotation": {
                        "roll": -0.00024414126528427005,
                        "pitch": -0.558866560459137,
                        "yaw": 178.72019958496094
                    }
                },
                "velocity": {
                    "x": -0.00021859220578335226,
                    "y": -2.291871714987792e-05,
                    "z": 0.020806262269616127
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3772,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1311.8450927734375,
                        "y": 3081.005126953125,
                        "z": 346.1080322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1261.7078857421875,
                        "y": 3079.5927734375,
                        "z": 347.9744567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1226.0303955078125,
                        "y": 3078.795166015625,
                        "z": 349.73565673828125
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1199.646240234375,
                        "y": 3078.205810546875,
                        "z": 351.1622619628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.9801025390625,
                        "y": 3077.23046875,
                        "z": 353.1231689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.568115234375,
                        "y": 3076.39501953125,
                        "z": 354.48736572265625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9630154967308044,
                "transform": {
                    "location": {
                        "x": -1066.609619140625,
                        "y": 3075.234375,
                        "z": 356.0193176269531
                    },
                    "rotation": {
                        "roll": -0.0005187993519939482,
                        "pitch": -0.9590131640434265,
                        "yaw": 178.75076293945312
                    }
                },
                "velocity": {
                    "x": -0.962738573551178,
                    "y": 0.022169319912791252,
                    "z": 0.006458844989538193
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.337921142578125,
                "transform": {
                    "location": {
                        "x": -983.74755859375,
                        "y": 3042.25048828125,
                        "z": 361.0185546875
                    },
                    "rotation": {
                        "roll": -0.01782229170203209,
                        "pitch": -3.289097785949707,
                        "yaw": 166.06321716308594
                    }
                },
                "velocity": {
                    "x": -8.083307266235352,
                    "y": 1.984571933746338,
                    "z": -0.49248701333999634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.246481418609619,
                "transform": {
                    "location": {
                        "x": -1003.3848876953125,
                        "y": 3046.6015625,
                        "z": 359.8262939453125
                    },
                    "rotation": {
                        "roll": -0.018768323585391045,
                        "pitch": -3.9002974033355713,
                        "yaw": 168.6005401611328
                    }
                },
                "velocity": {
                    "x": -7.093244552612305,
                    "y": 1.4194257259368896,
                    "z": -0.4273175001144409
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06547553092241287,
        "expert_target_speed": 20.0,
        "target_point": [
            21.733941293897367,
            -0.3703865362945109
        ],
        "target_point_next": [
            43.676295231696464,
            -1.9159356959218758
        ]
    },
    "90": {
        "acceleration": [
            -4.389495849609375,
            1.6626930236816406,
            -0.23845911026000977
        ],
        "angular_velocity": [
            0.4742933213710785,
            0.5617570281028748,
            -2.505618095397949
        ],
        "forward_vector": [
            -0.9725154638290405,
            0.2266484797000885,
            -0.05333001911640167
        ],
        "right_vector": [
            -0.22682099044322968,
            -0.9739322066307068,
            -0.0028750423807650805
        ],
        "location": [
            -1030.146240234375,
            3052.54248046875,
            358.2105712890625
        ],
        "rotation": [
            0.1649627685546875,
            -3.057035446166992,
            166.88116455078125
        ],
        "velocity": [
            -15.522018432617188,
            3.615056037902832,
            -0.9338043928146362
        ],
        "speed": 15.937430356857577,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 143.29457092285156,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1165.7762451171875,
                3098.454345703125,
                352.73919677734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3146650791168213,
                "transform": {
                    "location": {
                        "x": -1026.386474609375,
                        "y": 3077.835205078125,
                        "z": 356.5526123046875
                    },
                    "rotation": {
                        "roll": -0.009857177734375,
                        "pitch": -0.099181167781353,
                        "yaw": 178.7880401611328
                    }
                },
                "velocity": {
                    "x": -1.313673734664917,
                    "y": 0.010640737600624561,
                    "z": 0.049923963844776154
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8882637023925781,
                "transform": {
                    "location": {
                        "x": -1026.2574462890625,
                        "y": 3081.333740234375,
                        "z": 356.5870666503906
                    },
                    "rotation": {
                        "roll": -0.00592041015625,
                        "pitch": -0.22613389790058136,
                        "yaw": 178.76690673828125
                    }
                },
                "velocity": {
                    "x": -0.8872823715209961,
                    "y": 0.003149854252114892,
                    "z": 0.04162290319800377
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.8546142578125,
                        "y": 3094.954833984375,
                        "z": 352.73919677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.7762451171875,
                        "y": 3098.454345703125,
                        "z": 352.73919677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.6981201171875,
                        "y": 3101.953369140625,
                        "z": 352.73919677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.6199951171875,
                        "y": 3105.452392578125,
                        "z": 352.73919677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1387.2027587890625,
                        "y": 3086.7333984375,
                        "z": 345.6763916015625
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1387.242431640625,
                        "y": 3090.25830078125,
                        "z": 345.6812744140625
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.875244140625,
                        "y": 3093.7392578125,
                        "z": 345.68115234375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.20658802986145,
                "transform": {
                    "location": {
                        "x": -1040.70361328125,
                        "y": 3074.655517578125,
                        "z": 356.4556579589844
                    },
                    "rotation": {
                        "roll": -0.00030517601408064365,
                        "pitch": -0.7501254677772522,
                        "yaw": 178.73666381835938
                    }
                },
                "velocity": {
                    "x": -2.2059574127197266,
                    "y": 0.04780410975217819,
                    "z": -0.022309688851237297
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3772,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1316.0888671875,
                        "y": 3081.2001953125,
                        "z": 345.99609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1265.9522705078125,
                        "y": 3079.6875,
                        "z": 347.77850341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.2735595703125,
                        "y": 3078.889892578125,
                        "z": 349.51507568359375
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1203.8887939453125,
                        "y": 3078.300537109375,
                        "z": 350.9295654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.2254638671875,
                        "y": 3077.3251953125,
                        "z": 352.96685791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1122.8133544921875,
                        "y": 3076.4892578125,
                        "z": 354.33233642578125
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.875670313835144,
                "transform": {
                    "location": {
                        "x": -1066.9813232421875,
                        "y": 3075.24267578125,
                        "z": 356.0157775878906
                    },
                    "rotation": {
                        "roll": -0.0031738264951854944,
                        "pitch": -0.8115220665931702,
                        "yaw": 178.7688751220703
                    }
                },
                "velocity": {
                    "x": -1.8750088214874268,
                    "y": 0.04154390096664429,
                    "z": -0.027479972690343857
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.95530891418457,
                "transform": {
                    "location": {
                        "x": -985.7172241210938,
                        "y": 3042.7275390625,
                        "z": 360.8984680175781
                    },
                    "rotation": {
                        "roll": -0.019561761990189552,
                        "pitch": -3.4331328868865967,
                        "yaw": 166.4244384765625
                    }
                },
                "velocity": {
                    "x": -7.721868515014648,
                    "y": 1.8544402122497559,
                    "z": -0.4698231518268585
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.339499473571777,
                "transform": {
                    "location": {
                        "x": -1005.1419067382812,
                        "y": 3046.952392578125,
                        "z": 359.7193603515625
                    },
                    "rotation": {
                        "roll": -0.007324226666241884,
                        "pitch": -3.6370208263397217,
                        "yaw": 168.7035369873047
                    }
                },
                "velocity": {
                    "x": -7.185762405395508,
                    "y": 1.4304643869400024,
                    "z": -0.4322555363178253
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06726162880659103,
        "expert_target_speed": 20.0,
        "target_point": [
            17.864433834494523,
            -0.16944304635256158
        ],
        "target_point_next": [
            39.82136531172888,
            -1.4918569908144885
        ]
    },
    "95": {
        "acceleration": [
            -3.0950927734375,
            1.5122795104980469,
            -0.16327500343322754
        ],
        "angular_velocity": [
            0.3450930118560791,
            0.29623547196388245,
            -2.6366398334503174
        ],
        "forward_vector": [
            -0.9700047969818115,
            0.2376658022403717,
            -0.051045987755060196
        ],
        "right_vector": [
            -0.23778018355369568,
            -0.9713112115859985,
            -0.003908522892743349
        ],
        "location": [
            -1034.144775390625,
            3053.49462890625,
            357.9715270996094
        ],
        "rotation": [
            0.22423477470874786,
            -2.9259912967681885,
            166.23287963867188
        ],
        "velocity": [
            -16.377668380737305,
            3.9993739128112793,
            -0.9697626829147339
        ],
        "speed": 16.85891494977888,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 137.21160888671875,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1163.6949462890625,
                3098.407958984375,
                352.81658935546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7140073776245117,
                "transform": {
                    "location": {
                        "x": -1026.8916015625,
                        "y": 3077.841552734375,
                        "z": 356.5564880371094
                    },
                    "rotation": {
                        "roll": -0.005157470703125,
                        "pitch": -0.03607022762298584,
                        "yaw": 178.9442596435547
                    }
                },
                "velocity": {
                    "x": -2.71372389793396,
                    "y": 0.03879163786768913,
                    "z": -0.005812730640172958
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8982138633728027,
                "transform": {
                    "location": {
                        "x": -1026.6143798828125,
                        "y": 3081.337646484375,
                        "z": 356.5902404785156
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": -0.20342351496219635,
                        "yaw": 178.89031982421875
                    }
                },
                "velocity": {
                    "x": -1.8980556726455688,
                    "y": 0.024289941415190697,
                    "z": -0.0032309626694768667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.7733154296875,
                        "y": 3094.908935546875,
                        "z": 352.81658935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.6949462890625,
                        "y": 3098.407958984375,
                        "z": 352.81658935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.6168212890625,
                        "y": 3101.90673828125,
                        "z": 352.81658935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.5386962890625,
                        "y": 3105.40625,
                        "z": 352.81658935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.4449462890625,
                        "y": 3086.86865234375,
                        "z": 345.6900329589844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.484619140625,
                        "y": 3090.393310546875,
                        "z": 345.69488525390625
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.117431640625,
                        "y": 3093.874267578125,
                        "z": 345.69488525390625
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3811089992523193,
                "transform": {
                    "location": {
                        "x": -1041.4149169921875,
                        "y": 3074.67138671875,
                        "z": 356.4473876953125
                    },
                    "rotation": {
                        "roll": -0.0005187989445403218,
                        "pitch": -0.7310487627983093,
                        "yaw": 178.7429656982422
                    }
                },
                "velocity": {
                    "x": -3.3800151348114014,
                    "y": 0.07424148917198181,
                    "z": -0.04340120032429695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3772,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1320.3326416015625,
                        "y": 3081.409912109375,
                        "z": 345.89947509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1270.197021484375,
                        "y": 3079.78173828125,
                        "z": 347.5910949707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1234.5167236328125,
                        "y": 3078.98486328125,
                        "z": 349.2980651855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.1312255859375,
                        "y": 3078.3955078125,
                        "z": 350.69598388671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.4708251953125,
                        "y": 3077.420166015625,
                        "z": 352.80419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1127.0587158203125,
                        "y": 3076.584228515625,
                        "z": 354.1775207519531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.098137617111206,
                "transform": {
                    "location": {
                        "x": -1067.599609375,
                        "y": 3075.256591796875,
                        "z": 356.0045166015625
                    },
                    "rotation": {
                        "roll": -0.001281738979741931,
                        "pitch": -0.7438622117042542,
                        "yaw": 178.7515869140625
                    }
                },
                "velocity": {
                    "x": -3.096803903579712,
                    "y": 0.06861759722232819,
                    "z": -0.059606797993183136
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.090755462646484,
                "transform": {
                    "location": {
                        "x": -987.6571044921875,
                        "y": 3043.190673828125,
                        "z": 360.7804870605469
                    },
                    "rotation": {
                        "roll": -0.01171878818422556,
                        "pitch": -3.3885796070098877,
                        "yaw": 166.61703491210938
                    }
                },
                "velocity": {
                    "x": -7.857546329498291,
                    "y": 1.8684821128845215,
                    "z": -0.4775579869747162
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.384072303771973,
                "transform": {
                    "location": {
                        "x": -1007.0733642578125,
                        "y": 3047.3369140625,
                        "z": 359.60174560546875
                    },
                    "rotation": {
                        "roll": -0.001068118610419333,
                        "pitch": -3.209498882293701,
                        "yaw": 168.74542236328125
                    }
                },
                "velocity": {
                    "x": -8.20890998840332,
                    "y": 1.6317147016525269,
                    "z": -0.4939347803592682
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06652093678712845,
        "expert_target_speed": 20.0,
        "target_point": [
            13.754957607537886,
            0.005937476911638484
        ],
        "target_point_next": [
            35.725446189047325,
            -1.0679573159968392
        ]
    },
    "100": {
        "acceleration": [
            -2.8897857666015625,
            1.5750789642333984,
            -0.04925966262817383
        ],
        "angular_velocity": [
            0.14635790884494781,
            0.38396361470222473,
            -2.7577216625213623
        ],
        "forward_vector": [
            -0.9672155380249023,
            0.24914367496967316,
            -0.04920961707830429
        ],
        "right_vector": [
            -0.24921511113643646,
            -0.9684363603591919,
            -0.004776990506798029
        ],
        "location": [
            -1038.3375244140625,
            3054.54248046875,
            357.7283630371094
        ],
        "rotation": [
            0.27403444051742554,
            -2.8206424713134766,
            165.55528259277344
        ],
        "velocity": [
            -17.114887237548828,
            4.385680198669434,
            -0.9739560484886169
        ],
        "speed": 17.667867895108706,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 130.92144775390625,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1161.6136474609375,
                3098.361083984375,
                352.89599609375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.258853435516357,
                "transform": {
                    "location": {
                        "x": -1027.7730712890625,
                        "y": 3077.85400390625,
                        "z": 356.55279541015625
                    },
                    "rotation": {
                        "roll": -0.006164550315588713,
                        "pitch": -0.034697357565164566,
                        "yaw": 179.06944274902344
                    }
                },
                "velocity": {
                    "x": -4.258395195007324,
                    "y": 0.05865265801548958,
                    "z": -0.02146669290959835
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.052814483642578,
                "transform": {
                    "location": {
                        "x": -1027.2298583984375,
                        "y": 3081.346435546875,
                        "z": 356.587646484375
                    },
                    "rotation": {
                        "roll": -0.004028319846838713,
                        "pitch": -0.2115241140127182,
                        "yaw": 179.00111389160156
                    }
                },
                "velocity": {
                    "x": -3.0525267124176025,
                    "y": 0.03877710551023483,
                    "z": -0.015905199572443962
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.6920166015625,
                        "y": 3094.862060546875,
                        "z": 352.8959655761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.6136474609375,
                        "y": 3098.361083984375,
                        "z": 352.89599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.5355224609375,
                        "y": 3101.85986328125,
                        "z": 352.89599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.4573974609375,
                        "y": 3105.359375,
                        "z": 352.89599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.2730712890625,
                        "y": 3086.9580078125,
                        "z": 345.6991271972656
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.312744140625,
                        "y": 3090.483642578125,
                        "z": 345.7039489746094
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.945556640625,
                        "y": 3093.964111328125,
                        "z": 345.7040100097656
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.529615879058838,
                "transform": {
                    "location": {
                        "x": -1042.4090576171875,
                        "y": 3074.693359375,
                        "z": 356.4351806640625
                    },
                    "rotation": {
                        "roll": -0.0005798341589979827,
                        "pitch": -0.7783546447753906,
                        "yaw": 178.73638916015625
                    }
                },
                "velocity": {
                    "x": -4.52813720703125,
                    "y": 0.10161921381950378,
                    "z": -0.05540084093809128
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3772,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1324.5755615234375,
                        "y": 3081.635498046875,
                        "z": 345.81793212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1274.44189453125,
                        "y": 3079.87646484375,
                        "z": 347.4110412597656
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.7598876953125,
                        "y": 3079.07958984375,
                        "z": 349.0843200683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.373291015625,
                        "y": 3078.490478515625,
                        "z": 350.4636535644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.7154541015625,
                        "y": 3077.514892578125,
                        "z": 352.6334228515625
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1131.3040771484375,
                        "y": 3076.678955078125,
                        "z": 354.0226745605469
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.533538818359375,
                "transform": {
                    "location": {
                        "x": -1068.56689453125,
                        "y": 3075.27783203125,
                        "z": 355.9845886230469
                    },
                    "rotation": {
                        "roll": 0.000441913609392941,
                        "pitch": -0.6430622935295105,
                        "yaw": 178.7416534423828
                    }
                },
                "velocity": {
                    "x": -4.531422138214111,
                    "y": 0.10096245259046555,
                    "z": -0.09483218193054199
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.128240585327148,
                "transform": {
                    "location": {
                        "x": -989.635986328125,
                        "y": 3043.65185546875,
                        "z": 360.6603698730469
                    },
                    "rotation": {
                        "roll": -0.021636972203850746,
                        "pitch": -3.4019734859466553,
                        "yaw": 166.94558715820312
                    }
                },
                "velocity": {
                    "x": -7.907806873321533,
                    "y": 1.8174854516983032,
                    "z": -0.4812774658203125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.144782066345215,
                "transform": {
                    "location": {
                        "x": -1009.1158447265625,
                        "y": 3047.74462890625,
                        "z": 359.4795227050781
                    },
                    "rotation": {
                        "roll": 0.018826358020305634,
                        "pitch": -3.3716681003570557,
                        "yaw": 168.69493103027344
                    }
                },
                "velocity": {
                    "x": -7.972209453582764,
                    "y": 1.5974699258804321,
                    "z": -0.47899770736694336
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07985954731702805,
        "expert_target_speed": 20.0,
        "target_point": [
            9.432332323667312,
            0.13746738539175452
        ],
        "target_point_next": [
            31.413984204721466,
            -0.6765345289922005
        ]
    },
    "105": {
        "acceleration": [
            -2.8246688842773438,
            1.5401172637939453,
            0.03705859184265137
        ],
        "angular_velocity": [
            0.06524960696697235,
            0.3988155126571655,
            -2.5247690677642822
        ],
        "forward_vector": [
            -0.9642470479011536,
            0.260734498500824,
            -0.047383200377225876
        ],
        "right_vector": [
            -0.26077738404273987,
            -0.9653838872909546,
            -0.005383335519582033
        ],
        "location": [
            -1042.7105712890625,
            3055.688720703125,
            357.4838562011719
        ],
        "rotation": [
            0.3087907135486603,
            -2.715874195098877,
            164.86895751953125
        ],
        "velocity": [
            -17.82712745666504,
            4.783445358276367,
            -0.9769634008407593
        ],
        "speed": 18.45773070699094,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 124.43741607666016,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1159.5323486328125,
                3098.315185546875,
                352.9754333496094
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.47916841506958,
                "transform": {
                    "location": {
                        "x": -1029.0172119140625,
                        "y": 3077.87060546875,
                        "z": 356.54583740234375
                    },
                    "rotation": {
                        "roll": -0.0078124976716935635,
                        "pitch": -0.08450309932231903,
                        "yaw": 179.20042419433594
                    }
                },
                "velocity": {
                    "x": -5.478579044342041,
                    "y": 0.07294710725545883,
                    "z": -0.03368442878127098
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.451046943664551,
                "transform": {
                    "location": {
                        "x": -1028.1796875,
                        "y": 3081.359619140625,
                        "z": 356.58245849609375
                    },
                    "rotation": {
                        "roll": -0.004241942893713713,
                        "pitch": -0.2190919667482376,
                        "yaw": 179.11312866210938
                    }
                },
                "velocity": {
                    "x": -4.450618267059326,
                    "y": 0.05593235045671463,
                    "z": -0.026186197996139526
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.6107177734375,
                        "y": 3094.81591796875,
                        "z": 352.9754333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.5323486328125,
                        "y": 3098.315185546875,
                        "z": 352.9754333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.4542236328125,
                        "y": 3101.81396484375,
                        "z": 352.9754333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.3760986328125,
                        "y": 3105.31298828125,
                        "z": 352.9754333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.278200626373291,
                "transform": {
                    "location": {
                        "x": -1043.6632080078125,
                        "y": 3074.721435546875,
                        "z": 356.42047119140625
                    },
                    "rotation": {
                        "roll": -0.0005493172211572528,
                        "pitch": -0.827491044998169,
                        "yaw": 178.72666931152344
                    }
                },
                "velocity": {
                    "x": -5.2764573097229,
                    "y": 0.11884011328220367,
                    "z": -0.0654040202498436
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3772,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1328.8179931640625,
                        "y": 3081.87744140625,
                        "z": 345.75103759765625
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1278.687255859375,
                        "y": 3079.971435546875,
                        "z": 347.23828125
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.00341796875,
                        "y": 3079.174560546875,
                        "z": 348.8734436035156
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1216.615478515625,
                        "y": 3078.585205078125,
                        "z": 350.23431396484375
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1172.959716796875,
                        "y": 3077.60986328125,
                        "z": 352.4553527832031
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.549072265625,
                        "y": 3076.77392578125,
                        "z": 353.867919921875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.383378982543945,
                "transform": {
                    "location": {
                        "x": -1069.8468017578125,
                        "y": 3075.30615234375,
                        "z": 355.95819091796875
                    },
                    "rotation": {
                        "roll": -0.0004882815410383046,
                        "pitch": -0.7314107418060303,
                        "yaw": 178.73875427246094
                    }
                },
                "velocity": {
                    "x": -5.380883693695068,
                    "y": 0.11919475346803665,
                    "z": -0.11248725652694702
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046391487121582,
                "transform": {
                    "location": {
                        "x": -991.6000366210938,
                        "y": 3044.099365234375,
                        "z": 360.5408935546875
                    },
                    "rotation": {
                        "roll": -0.014984125271439552,
                        "pitch": -3.431452751159668,
                        "yaw": 167.22586059570312
                    }
                },
                "velocity": {
                    "x": -7.834043979644775,
                    "y": 1.7733794450759888,
                    "z": -0.47675299644470215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.864453315734863,
                "transform": {
                    "location": {
                        "x": -1011.0536499023438,
                        "y": 3048.13330078125,
                        "z": 359.3636779785156
                    },
                    "rotation": {
                        "roll": 0.02236863411962986,
                        "pitch": -3.5072267055511475,
                        "yaw": 168.6505126953125
                    }
                },
                "velocity": {
                    "x": -7.697153568267822,
                    "y": 1.546248435974121,
                    "z": -0.46105507016181946
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.10132422298192978,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            26.89919467924071,
            -0.3351793231377016
        ],
        "target_point_next": [
            78.20699000037247,
            3.4482178834190407
        ]
    },
    "110": {
        "acceleration": [
            -2.005767822265625,
            1.3137245178222656,
            0.09853005409240723
        ],
        "angular_velocity": [
            0.054243698716163635,
            0.2784545123577118,
            -2.135693073272705
        ],
        "forward_vector": [
            -0.9617310762405396,
            0.2701686918735504,
            -0.045630812644958496
        ],
        "right_vector": [
            -0.27021241188049316,
            -0.962786078453064,
            -0.005324350669980049
        ],
        "location": [
            -1047.252197265625,
            3056.93017578125,
            357.23956298828125
        ],
        "rotation": [
            0.3053823709487915,
            -2.615361213684082,
            164.30892944335938
        ],
        "velocity": [
            -18.428831100463867,
            5.140808582305908,
            -0.969350278377533
        ],
        "speed": 19.13242610359006,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 117.77166748046875,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1157.4510498046875,
                3098.268310546875,
                353.05181884765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.60219669342041,
                "transform": {
                    "location": {
                        "x": -1030.3984375,
                        "y": 3077.888427734375,
                        "z": 356.5370178222656
                    },
                    "rotation": {
                        "roll": -0.006561277899891138,
                        "pitch": -0.26535284519195557,
                        "yaw": 179.23858642578125
                    }
                },
                "velocity": {
                    "x": -5.601635456085205,
                    "y": 0.07091759890317917,
                    "z": -0.035469792783260345
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.315810680389404,
                "transform": {
                    "location": {
                        "x": -1029.4400634765625,
                        "y": 3081.376220703125,
                        "z": 356.57513427734375
                    },
                    "rotation": {
                        "roll": -0.004760741721838713,
                        "pitch": -0.25359809398651123,
                        "yaw": 179.20362854003906
                    }
                },
                "velocity": {
                    "x": -5.3152923583984375,
                    "y": 0.06609735637903214,
                    "z": -0.03374088555574417
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.5294189453125,
                        "y": 3094.76904296875,
                        "z": 353.05181884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.4510498046875,
                        "y": 3098.268310546875,
                        "z": 353.05181884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.3729248046875,
                        "y": 3101.76708984375,
                        "z": 353.05181884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.2947998046875,
                        "y": 3105.26611328125,
                        "z": 353.05181884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.781912326812744,
                "transform": {
                    "location": {
                        "x": -1045.045166015625,
                        "y": 3074.752197265625,
                        "z": 356.4024658203125
                    },
                    "rotation": {
                        "roll": 0.0011078082025051117,
                        "pitch": -0.8387745022773743,
                        "yaw": 178.67259216308594
                    }
                },
                "velocity": {
                    "x": -5.7799201011657715,
                    "y": 0.1294323056936264,
                    "z": -0.07926195859909058
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1282.932861328125,
                        "y": 3080.066162109375,
                        "z": 347.07183837890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1247.2471923828125,
                        "y": 3079.269287109375,
                        "z": 348.6652526855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.8580322265625,
                        "y": 3078.68017578125,
                        "z": 350.0075988769531
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1177.2039794921875,
                        "y": 3077.70458984375,
                        "z": 352.2698669433594
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.794677734375,
                        "y": 3076.868896484375,
                        "z": 353.7131652832031
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.374338626861572,
                "transform": {
                    "location": {
                        "x": -1071.2596435546875,
                        "y": 3075.33740234375,
                        "z": 355.9276123046875
                    },
                    "rotation": {
                        "roll": -0.0010986324632540345,
                        "pitch": -0.8501536250114441,
                        "yaw": 178.7335205078125
                    }
                },
                "velocity": {
                    "x": -6.371187686920166,
                    "y": 0.14100731909275055,
                    "z": -0.14239998161792755
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.097803115844727,
                "transform": {
                    "location": {
                        "x": -993.5654296875,
                        "y": 3044.541748046875,
                        "z": 360.4213562011719
                    },
                    "rotation": {
                        "roll": -0.00930785108357668,
                        "pitch": -3.409240961074829,
                        "yaw": 167.33876037597656
                    }
                },
                "velocity": {
                    "x": -7.892735004425049,
                    "y": 1.746278166770935,
                    "z": -0.479234904050827
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.190000534057617,
                "transform": {
                    "location": {
                        "x": -1013.0243530273438,
                        "y": 3048.530029296875,
                        "z": 359.244873046875
                    },
                    "rotation": {
                        "roll": 0.030683375895023346,
                        "pitch": -3.369598627090454,
                        "yaw": 168.60755920410156
                    }
                },
                "velocity": {
                    "x": -8.010512351989746,
                    "y": 1.6356931924819946,
                    "z": -0.48198285698890686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.12001095712184906,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            22.19305645590408,
            -0.1053387411478992
        ],
        "target_point_next": [
            73.46142182506009,
            4.179362825175733
        ]
    },
    "115": {
        "acceleration": [
            -1.942138671875,
            1.3128471374511719,
            0.16913414001464844
        ],
        "angular_velocity": [
            0.10525193810462952,
            0.34819117188453674,
            -2.1492726802825928
        ],
        "forward_vector": [
            -0.9592311382293701,
            0.27914053201675415,
            -0.04422866180539131
        ],
        "right_vector": [
            -0.2791934013366699,
            -0.9602213501930237,
            -0.005103545729070902
        ],
        "location": [
            -1051.92236328125,
            3058.255126953125,
            356.99896240234375
        ],
        "rotation": [
            0.2926993668079376,
            -2.534942626953125,
            163.77476501464844
        ],
        "velocity": [
            -18.904958724975586,
            5.464226722717285,
            -0.9494626522064209
        ],
        "speed": 19.678801743761944,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 110.96707153320312,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1155.3697509765625,
                3098.221923828125,
                353.1279602050781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.2523193359375,
                        "y": 3095.075927734375,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.1739501953125,
                        "y": 3098.574951171875,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.0958251953125,
                        "y": 3102.073974609375,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.0177001953125,
                        "y": 3105.572998046875,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.931471824645996,
                "transform": {
                    "location": {
                        "x": -1032.0965576171875,
                        "y": 3077.910888671875,
                        "z": 356.5263977050781
                    },
                    "rotation": {
                        "roll": 0.006451320368796587,
                        "pitch": 0.02021735906600952,
                        "yaw": 179.2024383544922
                    }
                },
                "velocity": {
                    "x": -7.930393695831299,
                    "y": 0.12086493521928787,
                    "z": -0.04995237663388252
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.539900779724121,
                "transform": {
                    "location": {
                        "x": -1030.80517578125,
                        "y": 3081.393310546875,
                        "z": 356.5669860839844
                    },
                    "rotation": {
                        "roll": -0.003509521484375,
                        "pitch": -0.3085264563560486,
                        "yaw": 179.24705505371094
                    }
                },
                "velocity": {
                    "x": -5.539359092712402,
                    "y": 0.06888148933649063,
                    "z": -0.03539806604385376
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.4481201171875,
                        "y": 3094.722412109375,
                        "z": 353.1279602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.3697509765625,
                        "y": 3098.221923828125,
                        "z": 353.1279602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.2916259765625,
                        "y": 3101.720947265625,
                        "z": 353.1279602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.2135009765625,
                        "y": 3105.219970703125,
                        "z": 353.1279602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.257333755493164,
                "transform": {
                    "location": {
                        "x": -1046.63916015625,
                        "y": 3074.7880859375,
                        "z": 356.38140869140625
                    },
                    "rotation": {
                        "roll": 0.0013667941093444824,
                        "pitch": -0.9084424376487732,
                        "yaw": 178.69700622558594
                    }
                },
                "velocity": {
                    "x": -7.254847049713135,
                    "y": 0.16289466619491577,
                    "z": -0.09772598743438721
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1287.1787109375,
                        "y": 3080.164306640625,
                        "z": 346.9122619628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1251.490966796875,
                        "y": 3079.3642578125,
                        "z": 348.4588317871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.1009521484375,
                        "y": 3078.77490234375,
                        "z": 349.78375244140625
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1181.4482421875,
                        "y": 3077.799560546875,
                        "z": 352.07708740234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.040283203125,
                        "y": 3076.963623046875,
                        "z": 353.558349609375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.951409816741943,
                "transform": {
                    "location": {
                        "x": -1073.058349609375,
                        "y": 3075.377685546875,
                        "z": 355.8869323730469
                    },
                    "rotation": {
                        "roll": 0.0010644496651366353,
                        "pitch": -0.734586775302887,
                        "yaw": 178.72450256347656
                    }
                },
                "velocity": {
                    "x": -7.947403430938721,
                    "y": 0.1774602085351944,
                    "z": -0.1794671267271042
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.086682319641113,
                "transform": {
                    "location": {
                        "x": -995.540283203125,
                        "y": 3044.971435546875,
                        "z": 360.3016052246094
                    },
                    "rotation": {
                        "roll": -0.02468872256577015,
                        "pitch": -3.4123828411102295,
                        "yaw": 167.79420471191406
                    }
                },
                "velocity": {
                    "x": -7.891634941101074,
                    "y": 1.699537754058838,
                    "z": -0.47760045528411865
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020730018615723,
                "transform": {
                    "location": {
                        "x": -1015.0101318359375,
                        "y": 3048.93798828125,
                        "z": 359.12603759765625
                    },
                    "rotation": {
                        "roll": 0.04086444526910782,
                        "pitch": -3.4360358715057373,
                        "yaw": 168.36334228515625
                    }
                },
                "velocity": {
                    "x": -7.8404364585876465,
                    "y": 1.6243830919265747,
                    "z": -0.4701601266860962
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.16127650439739227,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            17.33870737861216,
            0.06885240369946466
        ],
        "target_point_next": [
            68.56489614655987,
            4.831366387754269
        ]
    },
    "120": {
        "acceleration": [
            -2.29156494140625,
            0.681304931640625,
            0.1454627513885498
        ],
        "angular_velocity": [
            -0.6815066933631897,
            0.7422915101051331,
            0.19668449461460114
        ],
        "forward_vector": [
            -0.9575508236885071,
            0.2851690351963043,
            -0.0421319380402565
        ],
        "right_vector": [
            -0.28526636958122253,
            -0.9584406614303589,
            -0.0038105365820229053
        ],
        "location": [
            -1056.7169189453125,
            3059.658447265625,
            356.7627258300781
        ],
        "rotation": [
            0.21852223575115204,
            -2.4146971702575684,
            163.4158935546875
        ],
        "velocity": [
            -19.432844161987305,
            5.7315192222595215,
            -0.9323899745941162
        ],
        "speed": 20.260447794143506,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 104.03024291992188,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1153.2884521484375,
                3098.175537109375,
                353.2039794921875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.184814453125,
                        "y": 3095.029541015625,
                        "z": 352.6190490722656
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.1063232421875,
                        "y": 3098.529052734375,
                        "z": 352.6190185546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.0281982421875,
                        "y": 3102.028076171875,
                        "z": 352.6190185546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.9500732421875,
                        "y": 3105.52685546875,
                        "z": 352.6190185546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.235747337341309,
                "transform": {
                    "location": {
                        "x": -1034.1734619140625,
                        "y": 3077.944580078125,
                        "z": 356.5115966796875
                    },
                    "rotation": {
                        "roll": 0.008735291659832,
                        "pitch": -0.29369813203811646,
                        "yaw": 179.05099487304688
                    }
                },
                "velocity": {
                    "x": -8.234283447265625,
                    "y": 0.13972193002700806,
                    "z": -0.0677775964140892
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.998614311218262,
                "transform": {
                    "location": {
                        "x": -1032.4945068359375,
                        "y": 3081.417724609375,
                        "z": 356.5549011230469
                    },
                    "rotation": {
                        "roll": 0.00616158964112401,
                        "pitch": -0.15124769508838654,
                        "yaw": 179.1650390625
                    }
                },
                "velocity": {
                    "x": -7.997312545776367,
                    "y": 0.13527177274227142,
                    "z": -0.05025901645421982
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.3668212890625,
                        "y": 3094.67626953125,
                        "z": 353.2039794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.2884521484375,
                        "y": 3098.175537109375,
                        "z": 353.2039794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.2103271484375,
                        "y": 3101.67431640625,
                        "z": 353.2039794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.1322021484375,
                        "y": 3105.17333984375,
                        "z": 353.2039794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.45019245147705,
                "transform": {
                    "location": {
                        "x": -1048.6168212890625,
                        "y": 3074.83251953125,
                        "z": 356.35479736328125
                    },
                    "rotation": {
                        "roll": 0.0006669409340247512,
                        "pitch": -0.8896730542182922,
                        "yaw": 178.71597290039062
                    }
                },
                "velocity": {
                    "x": -8.447322845458984,
                    "y": 0.18908394873142242,
                    "z": -0.11283361911773682
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1291.424560546875,
                        "y": 3080.271728515625,
                        "z": 346.7596740722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1255.734619140625,
                        "y": 3079.459228515625,
                        "z": 348.2532653808594
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1229.3441162109375,
                        "y": 3078.86962890625,
                        "z": 349.56304931640625
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.6925048828125,
                        "y": 3077.894287109375,
                        "z": 351.87689208984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.286376953125,
                        "y": 3077.05859375,
                        "z": 353.40350341796875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.139632225036621,
                "transform": {
                    "location": {
                        "x": -1075.1578369140625,
                        "y": 3075.424560546875,
                        "z": 355.8385009765625
                    },
                    "rotation": {
                        "roll": 0.0015893260715529323,
                        "pitch": -0.797602117061615,
                        "yaw": 178.71585083007812
                    }
                },
                "velocity": {
                    "x": -9.1348237991333,
                    "y": 0.20616981387138367,
                    "z": -0.2129884660243988
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.076449394226074,
                "transform": {
                    "location": {
                        "x": -997.5114135742188,
                        "y": 3045.393310546875,
                        "z": 360.182373046875
                    },
                    "rotation": {
                        "roll": -0.003143334062770009,
                        "pitch": -3.4153130054473877,
                        "yaw": 167.9359588623047
                    }
                },
                "velocity": {
                    "x": -7.885237216949463,
                    "y": 1.680612564086914,
                    "z": -0.47707870602607727
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029104232788086,
                "transform": {
                    "location": {
                        "x": -1016.9639892578125,
                        "y": 3049.34326171875,
                        "z": 359.0088195800781
                    },
                    "rotation": {
                        "roll": 0.01820756494998932,
                        "pitch": -3.434389591217041,
                        "yaw": 168.26612854003906
                    }
                },
                "velocity": {
                    "x": -7.8470458984375,
                    "y": 1.6335779428482056,
                    "z": -0.4709639549255371
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.20714223384857178,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            12.342286111649159,
            0.1539198375719768
        ],
        "target_point_next": [
            63.53764147315727,
            5.237181049297547
        ]
    },
    "125": {
        "acceleration": [
            -2.6010894775390625,
            -0.10956764221191406,
            0.1780247688293457
        ],
        "angular_velocity": [
            -1.1903455257415771,
            0.9169210195541382,
            3.3718926906585693
        ],
        "forward_vector": [
            -0.9604586958885193,
            0.2756080627441406,
            -0.0394885316491127
        ],
        "right_vector": [
            -0.2758674621582031,
            -0.9611949920654297,
            0.0011698127491399646
        ],
        "location": [
            -1061.656005859375,
            3061.101806640625,
            356.53155517578125
        ],
        "rotation": [
            -0.06707766652107239,
            -2.2631146907806396,
            163.98892211914062
        ],
        "velocity": [
            -20.05465316772461,
            5.7822394371032715,
            -0.9082934260368347
        ],
        "speed": 20.871593292935714,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 96.9585952758789,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1151.2071533203125,
                3098.128662109375,
                353.2798767089844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.103515625,
                        "y": 3094.982666015625,
                        "z": 352.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.0250244140625,
                        "y": 3098.482177734375,
                        "z": 352.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.9468994140625,
                        "y": 3101.981201171875,
                        "z": 352.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.8687744140625,
                        "y": 3105.47998046875,
                        "z": 352.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.822527885437012,
                "transform": {
                    "location": {
                        "x": -1036.1610107421875,
                        "y": 3077.97900390625,
                        "z": 356.4952697753906
                    },
                    "rotation": {
                        "roll": 0.0010475479066371918,
                        "pitch": -0.6080917119979858,
                        "yaw": 179.0187225341797
                    }
                },
                "velocity": {
                    "x": -7.821041584014893,
                    "y": 0.13591782748699188,
                    "z": -0.06910893321037292
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.244420051574707,
                "transform": {
                    "location": {
                        "x": -1034.569580078125,
                        "y": 3081.452392578125,
                        "z": 356.5406188964844
                    },
                    "rotation": {
                        "roll": 7.308264321181923e-05,
                        "pitch": -0.38216954469680786,
                        "yaw": 179.03675842285156
                    }
                },
                "velocity": {
                    "x": -8.242854118347168,
                    "y": 0.14307177066802979,
                    "z": -0.07316411286592484
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.2855224609375,
                        "y": 3094.629638671875,
                        "z": 353.2798767089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.2071533203125,
                        "y": 3098.128662109375,
                        "z": 353.2798767089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.1290283203125,
                        "y": 3101.627685546875,
                        "z": 353.2798767089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.0509033203125,
                        "y": 3105.126708984375,
                        "z": 353.2798767089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.337484359741211,
                "transform": {
                    "location": {
                        "x": -1050.8438720703125,
                        "y": 3074.882080078125,
                        "z": 356.3212890625
                    },
                    "rotation": {
                        "roll": 0.0011273589916527271,
                        "pitch": -0.9955136775970459,
                        "yaw": 178.72361755371094
                    }
                },
                "velocity": {
                    "x": -9.333977699279785,
                    "y": 0.20606030523777008,
                    "z": -0.15170802175998688
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1295.670166015625,
                        "y": 3080.393798828125,
                        "z": 346.6136169433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1259.978271484375,
                        "y": 3079.553955078125,
                        "z": 348.0509948730469
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.5872802734375,
                        "y": 3078.96435546875,
                        "z": 349.34564208984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1189.9361572265625,
                        "y": 3077.9892578125,
                        "z": 351.6676025390625
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.531982421875,
                        "y": 3077.1533203125,
                        "z": 353.2486572265625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.528397560119629,
                "transform": {
                    "location": {
                        "x": -1077.640869140625,
                        "y": 3075.48046875,
                        "z": 355.77935791015625
                    },
                    "rotation": {
                        "roll": 0.00043424032628536224,
                        "pitch": -0.767296552658081,
                        "yaw": 178.7136993408203
                    }
                },
                "velocity": {
                    "x": -10.52259349822998,
                    "y": 0.23640382289886475,
                    "z": -0.25748661160469055
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.088170051574707,
                "transform": {
                    "location": {
                        "x": -999.4862060546875,
                        "y": 3045.80615234375,
                        "z": 360.06298828125
                    },
                    "rotation": {
                        "roll": -0.01599120907485485,
                        "pitch": -3.3986268043518066,
                        "yaw": 168.27281188964844
                    }
                },
                "velocity": {
                    "x": -7.9076385498046875,
                    "y": 1.6305522918701172,
                    "z": -0.4785922169685364
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.090778350830078,
                "transform": {
                    "location": {
                        "x": -1018.9364624023438,
                        "y": 3049.760986328125,
                        "z": 358.8902893066406
                    },
                    "rotation": {
                        "roll": 0.05464927479624748,
                        "pitch": -3.410067319869995,
                        "yaw": 168.00210571289062
                    }
                },
                "velocity": {
                    "x": -7.89661979675293,
                    "y": 1.6969748735427856,
                    "z": -0.4736684262752533
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2097570151090622,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            58.441239447259775,
            4.626506654422029
        ],
        "target_point_next": [
            70.89661777712611,
            7.76502494028378
        ]
    },
    "130": {
        "acceleration": [
            -3.4312057495117188,
            -0.6964588165283203,
            0.10582685470581055
        ],
        "angular_velocity": [
            -1.1359937191009521,
            1.2670079469680786,
            5.03626012802124
        ],
        "forward_vector": [
            -0.9656403660774231,
            0.2571640610694885,
            -0.037487421184778214
        ],
        "right_vector": [
            -0.25760048627853394,
            -0.9662244319915771,
            0.007234915159642696
        ],
        "location": [
            -1066.726806640625,
            3062.5234375,
            356.30816650390625
        ],
        "rotation": [
            -0.41482532024383545,
            -2.148374319076538,
            165.08741760253906
        ],
        "velocity": [
            -20.629362106323242,
            5.597070217132568,
            -0.8792253136634827
        ],
        "speed": 21.37516727254591,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 89.79301452636719,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1149.1258544921875,
                3098.082763671875,
                353.3558044433594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.0220947265625,
                        "y": 3094.936767578125,
                        "z": 352.769287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.9437255859375,
                        "y": 3098.435791015625,
                        "z": 352.769287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.8656005859375,
                        "y": 3101.934814453125,
                        "z": 352.769287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.7874755859375,
                        "y": 3105.43408203125,
                        "z": 352.769287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.156973838806152,
                "transform": {
                    "location": {
                        "x": -1038.156982421875,
                        "y": 3078.01611328125,
                        "z": 356.4754638671875
                    },
                    "rotation": {
                        "roll": 0.008319188840687275,
                        "pitch": -0.5285677909851074,
                        "yaw": 178.9082794189453
                    }
                },
                "velocity": {
                    "x": -8.155020713806152,
                    "y": 0.15904603898525238,
                    "z": -0.080952487885952
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.8373565673828125,
                "transform": {
                    "location": {
                        "x": -1036.5653076171875,
                        "y": 3081.48681640625,
                        "z": 356.5243225097656
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.599116861820221,
                        "yaw": 178.9972686767578
                    }
                },
                "velocity": {
                    "x": -7.835776329040527,
                    "y": 0.13704022765159607,
                    "z": -0.077398382127285
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.2042236328125,
                        "y": 3094.583740234375,
                        "z": 353.3558044433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.1258544921875,
                        "y": 3098.082763671875,
                        "z": 353.3558044433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.0477294921875,
                        "y": 3101.581787109375,
                        "z": 353.3558044433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.9696044921875,
                        "y": 3105.080810546875,
                        "z": 353.3558044433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.288652420043945,
                "transform": {
                    "location": {
                        "x": -1053.3016357421875,
                        "y": 3074.936767578125,
                        "z": 356.2810974121094
                    },
                    "rotation": {
                        "roll": 0.00034866505302488804,
                        "pitch": -1.0801397562026978,
                        "yaw": 178.7174072265625
                    }
                },
                "velocity": {
                    "x": -10.284603118896484,
                    "y": 0.22843697667121887,
                    "z": -0.17640849947929382
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1299.915771484375,
                        "y": 3080.53271484375,
                        "z": 346.4728088378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1264.222412109375,
                        "y": 3079.648681640625,
                        "z": 347.8553466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.8306884765625,
                        "y": 3079.059326171875,
                        "z": 349.13104248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1194.17919921875,
                        "y": 3078.083984375,
                        "z": 351.4513854980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.77734375,
                        "y": 3077.248291015625,
                        "z": 353.0935363769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.547547340393066,
                "transform": {
                    "location": {
                        "x": -1080.4012451171875,
                        "y": 3075.54248046875,
                        "z": 355.71124267578125
                    },
                    "rotation": {
                        "roll": -0.0029296875,
                        "pitch": -0.9686232209205627,
                        "yaw": 178.71884155273438
                    }
                },
                "velocity": {
                    "x": -11.540921211242676,
                    "y": 0.25633639097213745,
                    "z": -0.2954438030719757
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.083939552307129,
                "transform": {
                    "location": {
                        "x": -1001.4633178710938,
                        "y": 3046.2109375,
                        "z": 359.94366455078125
                    },
                    "rotation": {
                        "roll": -0.0034179820213466883,
                        "pitch": -3.413113594055176,
                        "yaw": 168.44757080078125
                    }
                },
                "velocity": {
                    "x": -7.907375812530518,
                    "y": 1.6108286380767822,
                    "z": -0.47825193405151367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.04275894165039,
                "transform": {
                    "location": {
                        "x": -1020.9038696289062,
                        "y": 3050.184814453125,
                        "z": 358.7721862792969
                    },
                    "rotation": {
                        "roll": 0.03670261427760124,
                        "pitch": -3.428495168685913,
                        "yaw": 167.8132781982422
                    }
                },
                "velocity": {
                    "x": -7.846643924713135,
                    "y": 1.7010307312011719,
                    "z": -0.471851110458374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.054205574095249176,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            53.25333022501893,
            3.574086532713899
        ],
        "target_point_next": [
            65.76658808280362,
            6.473245747966189
        ]
    },
    "135": {
        "acceleration": [
            -1.83074951171875,
            -0.8114814758300781,
            0.06271481513977051
        ],
        "angular_velocity": [
            -0.236423060297966,
            -0.059565022587776184,
            3.1564738750457764
        ],
        "forward_vector": [
            -0.9707046151161194,
            0.23771288990974426,
            -0.035001158714294434
        ],
        "right_vector": [
            -0.23821821808815002,
            -0.9711494445800781,
            0.010993491858243942
        ],
        "location": [
            -1071.9639892578125,
            3063.89208984375,
            356.0924072265625
        ],
        "rotation": [
            -0.630279541015625,
            -2.005828380584717,
            166.23980712890625
        ],
        "velocity": [
            -21.190214157104492,
            5.347748756408691,
            -0.8468754291534424
        ],
        "speed": 21.85460118111567,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 82.52253723144531,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1147.0445556640625,
                3098.035888671875,
                353.4316711425781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.9407958984375,
                        "y": 3094.89013671875,
                        "z": 352.8483581542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.8624267578125,
                        "y": 3098.389404296875,
                        "z": 352.8483581542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.7843017578125,
                        "y": 3101.887939453125,
                        "z": 352.8483581542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.7061767578125,
                        "y": 3105.387451171875,
                        "z": 352.8483581542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04882526397705,
                "transform": {
                    "location": {
                        "x": -1040.19140625,
                        "y": 3078.056396484375,
                        "z": 356.45538330078125
                    },
                    "rotation": {
                        "roll": 0.004001108463853598,
                        "pitch": -0.5723561644554138,
                        "yaw": 178.8701934814453
                    }
                },
                "velocity": {
                    "x": -8.046798706054688,
                    "y": 0.16176040470600128,
                    "z": -0.0803285613656044
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.105752944946289,
                "transform": {
                    "location": {
                        "x": -1038.550537109375,
                        "y": 3081.524658203125,
                        "z": 356.50408935546875
                    },
                    "rotation": {
                        "roll": 0.001986933872103691,
                        "pitch": -0.5502331852912903,
                        "yaw": 178.8999481201172
                    }
                },
                "velocity": {
                    "x": -8.103727340698242,
                    "y": 0.16253457963466644,
                    "z": -0.0800841823220253
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.1229248046875,
                        "y": 3094.536865234375,
                        "z": 353.4316711425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.0445556640625,
                        "y": 3098.035888671875,
                        "z": 353.4316711425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.9664306640625,
                        "y": 3101.534912109375,
                        "z": 353.4316711425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.8883056640625,
                        "y": 3105.033935546875,
                        "z": 353.4316711425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.137712478637695,
                "transform": {
                    "location": {
                        "x": -1055.9832763671875,
                        "y": 3074.996826171875,
                        "z": 356.2350158691406
                    },
                    "rotation": {
                        "roll": -0.0008239747257903218,
                        "pitch": -1.0591095685958862,
                        "yaw": 178.71971130371094
                    }
                },
                "velocity": {
                    "x": -11.13325023651123,
                    "y": 0.25179556012153625,
                    "z": -0.18965953588485718
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.16064453125,
                        "y": 3080.686767578125,
                        "z": 346.33221435546875
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1268.466552734375,
                        "y": 3079.743408203125,
                        "z": 347.666748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.073974609375,
                        "y": 3079.154052734375,
                        "z": 348.9194030761719
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.4219970703125,
                        "y": 3078.178955078125,
                        "z": 351.2270202636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.022705078125,
                        "y": 3077.343017578125,
                        "z": 352.9361572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.585393905639648,
                "transform": {
                    "location": {
                        "x": -1083.42138671875,
                        "y": 3075.609619140625,
                        "z": 355.63323974609375
                    },
                    "rotation": {
                        "roll": 0.0008269555401057005,
                        "pitch": -1.028954267501831,
                        "yaw": 178.72427368164062
                    }
                },
                "velocity": {
                    "x": -12.577743530273438,
                    "y": 0.28260746598243713,
                    "z": -0.33565300703048706
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1003.450439453125,
                        "y": 3046.623291015625,
                        "z": 359.82379150390625
                    },
                    "rotation": {
                        "roll": 2.672685717186596e-08,
                        "pitch": -3.3778083324432373,
                        "yaw": 168.9072265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.047599792480469,
                "transform": {
                    "location": {
                        "x": -1022.8641967773438,
                        "y": 3050.611083984375,
                        "z": 358.6544189453125
                    },
                    "rotation": {
                        "roll": 0.03518393635749817,
                        "pitch": -3.423365831375122,
                        "yaw": 167.70860290527344
                    }
                },
                "velocity": {
                    "x": -7.843733787536621,
                    "y": 1.737337589263916,
                    "z": -0.4704827070236206
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0005407333374023,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            47.90201989577653,
            2.586018157943302
        ],
        "target_point_next": [
            60.471053662455574,
            5.232928912554161
        ]
    },
    "140": {
        "acceleration": [
            -1.5209579467773438,
            0.14975547790527344,
            0.4058659076690674
        ],
        "angular_velocity": [
            1.2653944492340088,
            0.5892616510391235,
            -1.0304815769195557
        ],
        "forward_vector": [
            -0.9712730646133423,
            0.23567233979701996,
            -0.032970890402793884
        ],
        "right_vector": [
            -0.23605962097644806,
            -0.9717027544975281,
            0.008337452076375484
        ],
        "location": [
            -1077.315185546875,
            3065.220947265625,
            355.8856201171875
        ],
        "rotation": [
            -0.4779662489891052,
            -1.8894351720809937,
            166.36119079589844
        ],
        "velocity": [
            -21.590593338012695,
            5.300866603851318,
            -0.7940778732299805
        ],
        "speed": 22.23179946471415,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 75.2042465209961,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1144.9632568359375,
                3097.9892578125,
                353.507568359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3790,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -1026.271484375,
                        "y": 3077.834228515625,
                        "z": 356.90765380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.8594970703125,
                        "y": 3094.84326171875,
                        "z": 352.9277648925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.7811279296875,
                        "y": 3098.342529296875,
                        "z": 352.9277648925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.7030029296875,
                        "y": 3101.841552734375,
                        "z": 352.9277648925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.6248779296875,
                        "y": 3105.340576171875,
                        "z": 352.9277648925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.989959239959717,
                "transform": {
                    "location": {
                        "x": -1042.185791015625,
                        "y": 3078.09716796875,
                        "z": 356.4333801269531
                    },
                    "rotation": {
                        "roll": 0.003684056457132101,
                        "pitch": -0.6737912893295288,
                        "yaw": 178.82029724121094
                    }
                },
                "velocity": {
                    "x": -7.98768424987793,
                    "y": 0.1664525419473648,
                    "z": -0.09295784682035446
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.079205513000488,
                "transform": {
                    "location": {
                        "x": -1040.58544921875,
                        "y": 3081.565673828125,
                        "z": 356.4841613769531
                    },
                    "rotation": {
                        "roll": -6.103525083744898e-05,
                        "pitch": -0.5631080865859985,
                        "yaw": 178.8487091064453
                    }
                },
                "velocity": {
                    "x": -8.07713794708252,
                    "y": 0.16441889107227325,
                    "z": -0.07982813566923141
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.0416259765625,
                        "y": 3094.490234375,
                        "z": 353.507568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.9632568359375,
                        "y": 3097.9892578125,
                        "z": 353.507568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.8851318359375,
                        "y": 3101.48828125,
                        "z": 353.507568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.8070068359375,
                        "y": 3104.987548828125,
                        "z": 353.507568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.012182235717773,
                "transform": {
                    "location": {
                        "x": -1058.880859375,
                        "y": 3075.0615234375,
                        "z": 356.18402099609375
                    },
                    "rotation": {
                        "roll": -0.00048828095896169543,
                        "pitch": -1.1257244348526,
                        "yaw": 178.7216796875
                    }
                },
                "velocity": {
                    "x": -12.007171630859375,
                    "y": 0.2679039239883423,
                    "z": -0.22037677466869354
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1308.405029296875,
                        "y": 3080.85595703125,
                        "z": 346.20037841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1272.710693359375,
                        "y": 3079.838134765625,
                        "z": 347.4845275878906
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1246.3170166015625,
                        "y": 3079.248291015625,
                        "z": 348.7105712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1202.663818359375,
                        "y": 3078.273681640625,
                        "z": 350.9964294433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.267333984375,
                        "y": 3077.43798828125,
                        "z": 352.7726745605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.605490684509277,
                "transform": {
                    "location": {
                        "x": -1086.697021484375,
                        "y": 3075.682861328125,
                        "z": 355.5442199707031
                    },
                    "rotation": {
                        "roll": 0.0014024657430127263,
                        "pitch": -1.1672314405441284,
                        "yaw": 178.71990966796875
                    }
                },
                "velocity": {
                    "x": -13.596762657165527,
                    "y": 0.3036864101886749,
                    "z": -0.3810546100139618
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1005.4789428710938,
                        "y": 3047.080810546875,
                        "z": 359.7016296386719
                    },
                    "rotation": {
                        "roll": 2.672685717186596e-08,
                        "pitch": -3.3778083324432373,
                        "yaw": 168.9072265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.074773788452148,
                "transform": {
                    "location": {
                        "x": -1024.8292236328125,
                        "y": 3051.05029296875,
                        "z": 358.5361328125
                    },
                    "rotation": {
                        "roll": 0.04868924245238304,
                        "pitch": -3.420408248901367,
                        "yaw": 167.37274169921875
                    }
                },
                "velocity": {
                    "x": -7.862704277038574,
                    "y": 1.7758806943893433,
                    "z": -0.4755033850669861
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9987841844558716,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            42.39374538071068,
            2.5141032116700908
        ],
        "target_point_next": [
            54.968358647720414,
            5.134379448240462
        ]
    },
    "145": {
        "acceleration": [
            -1.2091445922851562,
            0.7104396820068359,
            -0.2579832077026367
        ],
        "angular_velocity": [
            1.5684276819229126,
            -1.1761889457702637,
            -1.627254605293274
        ],
        "forward_vector": [
            -0.9697561860084534,
            0.24197740852832794,
            -0.03193550184369087
        ],
        "right_vector": [
            -0.24212543666362762,
            -0.9702446460723877,
            0.0007937495247460902
        ],
        "location": [
            -1082.7584228515625,
            3066.5634765625,
            355.6916809082031
        ],
        "rotation": [
            -0.045501708984375,
            -1.8300807476043701,
            165.9894256591797
        ],
        "velocity": [
            -21.92803955078125,
            5.433785915374756,
            -0.7810510993003845
        ],
        "speed": 22.5912582189384,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 67.86685180664062,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1142.8973388671875,
                3097.944580078125,
                353.58294677734375
            ],
            "velocity": [
                7.967304706573486,
                -0.12326591461896896,
                0.300771027803421
            ],
            "speed_kmh": 28.7061575575001,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3791,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -1026.193359375,
                        "y": 3081.3330078125,
                        "z": 356.8439636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3790,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4091937839984894,
                "transform": {
                    "location": {
                        "x": -1026.2706298828125,
                        "y": 3077.834228515625,
                        "z": 356.52166748046875
                    },
                    "rotation": {
                        "roll": 0.0014644564362242818,
                        "pitch": -0.309202641248703,
                        "yaw": 178.72015380859375
                    }
                },
                "velocity": {
                    "x": 0.0018321207026019692,
                    "y": 7.230543269542977e-05,
                    "z": -0.4091896712779999
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.7952880859375,
                        "y": 3094.79736328125,
                        "z": 353.00555419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.6998291015625,
                        "y": 3098.29638671875,
                        "z": 353.00616455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.6217041015625,
                        "y": 3101.795166015625,
                        "z": 353.00616455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.5435791015625,
                        "y": 3105.294189453125,
                        "z": 353.00616455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.097871780395508,
                "transform": {
                    "location": {
                        "x": -1044.198974609375,
                        "y": 3078.1396484375,
                        "z": 356.4095764160156
                    },
                    "rotation": {
                        "roll": 0.002011585980653763,
                        "pitch": -0.7720913887023926,
                        "yaw": 178.80453491210938
                    }
                },
                "velocity": {
                    "x": -8.095381736755371,
                    "y": 0.17090439796447754,
                    "z": -0.10543109476566315
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.939605712890625,
                "transform": {
                    "location": {
                        "x": -1042.5775146484375,
                        "y": 3081.60595703125,
                        "z": 356.4617004394531
                    },
                    "rotation": {
                        "roll": 0.0007727476768195629,
                        "pitch": -0.6993088722229004,
                        "yaw": 178.8251190185547
                    }
                },
                "velocity": {
                    "x": -7.937203884124756,
                    "y": 0.1684214025735855,
                    "z": -0.09882283955812454
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.1714448928833,
                "transform": {
                    "location": {
                        "x": -1142.984619140625,
                        "y": 3094.447998046875,
                        "z": 353.59210205078125
                    },
                    "rotation": {
                        "roll": -0.012878414243459702,
                        "pitch": 2.069007635116577,
                        "yaw": -1.1329344511032104
                    }
                },
                "velocity": {
                    "x": 8.15998363494873,
                    "y": -0.11286749690771103,
                    "z": 0.4176624119281769
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.973932266235352,
                "transform": {
                    "location": {
                        "x": -1142.8973388671875,
                        "y": 3097.944580078125,
                        "z": 353.58294677734375
                    },
                    "rotation": {
                        "roll": 0.012519216164946556,
                        "pitch": 2.1154119968414307,
                        "yaw": -1.230712652206421
                    }
                },
                "velocity": {
                    "x": 7.967304706573486,
                    "y": -0.12326591461896896,
                    "z": 0.300771027803421
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1142.8038330078125,
                        "y": 3101.44189453125,
                        "z": 353.5834655761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1142.7257080078125,
                        "y": 3104.94091796875,
                        "z": 353.5834655761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.82386589050293,
                "transform": {
                    "location": {
                        "x": -1061.9879150390625,
                        "y": 3075.131103515625,
                        "z": 356.12615966796875
                    },
                    "rotation": {
                        "roll": 0.00043613387970253825,
                        "pitch": -1.1631196737289429,
                        "yaw": 178.7154083251953
                    }
                },
                "velocity": {
                    "x": -12.818360328674316,
                    "y": 0.2852460741996765,
                    "z": -0.24456386268138885
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1312.649169921875,
                        "y": 3081.04052734375,
                        "z": 346.08258056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1276.954833984375,
                        "y": 3079.93310546875,
                        "z": 347.30853271484375
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1250.5596923828125,
                        "y": 3079.343017578125,
                        "z": 348.50408935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1206.9051513671875,
                        "y": 3078.3681640625,
                        "z": 350.7633972167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.51123046875,
                        "y": 3077.53271484375,
                        "z": 352.60125732421875
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.633323669433594,
                "transform": {
                    "location": {
                        "x": -1090.22900390625,
                        "y": 3075.76171875,
                        "z": 355.4439392089844
                    },
                    "rotation": {
                        "roll": 0.0001832851121434942,
                        "pitch": -1.2062318325042725,
                        "yaw": 178.71771240234375
                    }
                },
                "velocity": {
                    "x": -14.623457908630371,
                    "y": 0.32524463534355164,
                    "z": -0.42759719491004944
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1007.5098266601562,
                        "y": 3047.52685546875,
                        "z": 359.57940673828125
                    },
                    "rotation": {
                        "roll": 2.672685717186596e-08,
                        "pitch": -3.3778083324432373,
                        "yaw": 168.9072265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038643836975098,
                "transform": {
                    "location": {
                        "x": -1026.78955078125,
                        "y": 3051.49365234375,
                        "z": 358.41802978515625
                    },
                    "rotation": {
                        "roll": 0.02037457562983036,
                        "pitch": -3.4332284927368164,
                        "yaw": 167.23411560058594
                    }
                },
                "velocity": {
                    "x": -7.825448989868164,
                    "y": 1.7778677940368652,
                    "z": -0.47045257687568665
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9979620575904846,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            36.770205081651696,
            2.773912951816966
        ],
        "target_point_next": [
            49.32755129626547,
            5.475727604437987
        ]
    },
    "150": {
        "acceleration": [
            -1.0985946655273438,
            -0.3230094909667969,
            0.8788979053497314
        ],
        "angular_velocity": [
            1.9461541175842285,
            1.54804265499115,
            2.3125016689300537
        ],
        "forward_vector": [
            -0.9696016311645508,
            0.24327810108661652,
            -0.02623816952109337
        ],
        "right_vector": [
            -0.24324603378772736,
            -0.9699543118476868,
            -0.004455271176993847
        ],
        "location": [
            -1088.27783203125,
            3067.940185546875,
            355.5004577636719
        ],
        "rotation": [
            0.2553569972515106,
            -1.5035089254379272,
            165.91494750976562
        ],
        "velocity": [
            -22.193693161010742,
            5.500950813293457,
            -0.6850220561027527
        ],
        "speed": 22.865267896426865,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.59938430786133,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1140.910888671875,
                3097.917724609375,
                353.658203125
            ],
            "velocity": [
                7.92893123626709,
                -0.08214189112186432,
                0.2953420877456665
            ],
            "speed_kmh": 28.565478208131896,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3791,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.037136536091566086,
                "transform": {
                    "location": {
                        "x": -1026.1925048828125,
                        "y": 3081.3330078125,
                        "z": 356.51513671875
                    },
                    "rotation": {
                        "roll": -0.00018310561426915228,
                        "pitch": -0.30907970666885376,
                        "yaw": 178.72006225585938
                    }
                },
                "velocity": {
                    "x": 0.0001286663464270532,
                    "y": 6.879877764731646e-05,
                    "z": -0.037136249244213104
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3790,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.12769395112991333,
                "transform": {
                    "location": {
                        "x": -1026.270751953125,
                        "y": 3077.834228515625,
                        "z": 356.5383605957031
                    },
                    "rotation": {
                        "roll": 0.0010549644939601421,
                        "pitch": -0.3042576014995575,
                        "yaw": 178.72015380859375
                    }
                },
                "velocity": {
                    "x": -0.0006019489956088364,
                    "y": -0.00013047808897681534,
                    "z": 0.12769246101379395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.7835693359375,
                        "y": 3094.752685546875,
                        "z": 353.0791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.7122802734375,
                        "y": 3098.25146484375,
                        "z": 353.0788269042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.60595703125,
                        "y": 3101.75048828125,
                        "z": 353.0798645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.50537109375,
                        "y": 3105.2490234375,
                        "z": 353.0806884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023505210876465,
                "transform": {
                    "location": {
                        "x": -1046.2142333984375,
                        "y": 3078.182373046875,
                        "z": 356.3822326660156
                    },
                    "rotation": {
                        "roll": 0.0011292272247374058,
                        "pitch": -0.7843037247657776,
                        "yaw": 178.76239013671875
                    }
                },
                "velocity": {
                    "x": -8.02088451385498,
                    "y": 0.17277567088603973,
                    "z": -0.11042959988117218
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.108460426330566,
                "transform": {
                    "location": {
                        "x": -1044.5853271484375,
                        "y": 3081.648681640625,
                        "z": 356.4366760253906
                    },
                    "rotation": {
                        "roll": -0.0009155268198810518,
                        "pitch": -0.7755132913589478,
                        "yaw": 178.7833709716797
                    }
                },
                "velocity": {
                    "x": -8.105886459350586,
                    "y": 0.17238593101501465,
                    "z": -0.10961578786373138
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.880323886871338,
                "transform": {
                    "location": {
                        "x": -1140.9818115234375,
                        "y": 3094.420654296875,
                        "z": 353.6844177246094
                    },
                    "rotation": {
                        "roll": 0.009183271788060665,
                        "pitch": 2.080332040786743,
                        "yaw": -0.7510679960250854
                    }
                },
                "velocity": {
                    "x": 7.8731536865234375,
                    "y": -0.085990771651268,
                    "z": 0.3249090611934662
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.934854984283447,
                "transform": {
                    "location": {
                        "x": -1140.910888671875,
                        "y": 3097.917724609375,
                        "z": 353.658203125
                    },
                    "rotation": {
                        "roll": 0.02587614208459854,
                        "pitch": 2.098466157913208,
                        "yaw": -0.813385009765625
                    }
                },
                "velocity": {
                    "x": 7.92893123626709,
                    "y": -0.08214189112186432,
                    "z": 0.2953420877456665
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.920531749725342,
                "transform": {
                    "location": {
                        "x": -1140.8043212890625,
                        "y": 3101.411376953125,
                        "z": 353.6485900878906
                    },
                    "rotation": {
                        "roll": 0.006769503932446241,
                        "pitch": 2.0788772106170654,
                        "yaw": -0.822967529296875
                    }
                },
                "velocity": {
                    "x": 7.915633201599121,
                    "y": -0.08113551139831543,
                    "z": 0.26643842458724976
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.13269329071045,
                "transform": {
                    "location": {
                        "x": -1140.69580078125,
                        "y": 3104.90625,
                        "z": 353.6556701660156
                    },
                    "rotation": {
                        "roll": -0.056915283203125,
                        "pitch": 2.035341501235962,
                        "yaw": -0.9057921171188354
                    }
                },
                "velocity": {
                    "x": 8.127079010009766,
                    "y": -0.096934974193573,
                    "z": 0.2861502468585968
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.627415657043457,
                "transform": {
                    "location": {
                        "x": -1065.2979736328125,
                        "y": 3075.204833984375,
                        "z": 356.0625
                    },
                    "rotation": {
                        "roll": -0.00030517549021169543,
                        "pitch": -1.1959524154663086,
                        "yaw": 178.72238159179688
                    }
                },
                "velocity": {
                    "x": -13.621382713317871,
                    "y": 0.3070950508117676,
                    "z": -0.26470041275024414
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1316.89306640625,
                        "y": 3081.2392578125,
                        "z": 345.97698974609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1281.198974609375,
                        "y": 3080.028076171875,
                        "z": 347.13885498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1254.8021240234375,
                        "y": 3079.43798828125,
                        "z": 348.2979736328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1211.146484375,
                        "y": 3078.46240234375,
                        "z": 350.5306091308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.755126953125,
                        "y": 3077.627685546875,
                        "z": 352.4214782714844
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.335006713867188,
                "transform": {
                    "location": {
                        "x": -1093.9593505859375,
                        "y": 3075.8447265625,
                        "z": 355.3329162597656
                    },
                    "rotation": {
                        "roll": -0.0007934587192721665,
                        "pitch": -1.4179949760437012,
                        "yaw": 178.72718811035156
                    }
                },
                "velocity": {
                    "x": -15.324040412902832,
                    "y": 0.34077155590057373,
                    "z": -0.46913275122642517
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1009.5497436523438,
                        "y": 3047.93115234375,
                        "z": 359.4568176269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.3778083324432373,
                        "yaw": 168.81666564941406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.067170143127441,
                "transform": {
                    "location": {
                        "x": -1028.7476806640625,
                        "y": 3051.946533203125,
                        "z": 358.2998352050781
                    },
                    "rotation": {
                        "roll": 0.056488942354917526,
                        "pitch": -3.4222934246063232,
                        "yaw": 166.93527221679688
                    }
                },
                "velocity": {
                    "x": -7.839765548706055,
                    "y": 1.8420050144195557,
                    "z": -0.47363677620887756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0006791353225708,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            31.07805858843857,
            2.8138140759785406
        ],
        "target_point_next": [
            43.63188221975901,
            5.531949209575282
        ]
    },
    "155": {
        "acceleration": [
            -1.5347671508789062,
            -1.9884300231933594,
            0.2872312068939209
        ],
        "angular_velocity": [
            -0.9188433289527893,
            1.3434680700302124,
            7.937188148498535
        ],
        "forward_vector": [
            -0.9750744700431824,
            0.22019046545028687,
            -0.027313051745295525
        ],
        "right_vector": [
            -0.22012031078338623,
            -0.975456714630127,
            -0.005586361512541771
        ],
        "location": [
            -1093.8668212890625,
            3069.2890625,
            355.3291015625
        ],
        "rotation": [
            0.3201960325241089,
            -1.5651172399520874,
            167.2749481201172
        ],
        "velocity": [
            -22.53614616394043,
            5.1854143142700195,
            -0.6828622221946716
        ],
        "speed": 23.125016876385697,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.41860580444336,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1138.951416015625,
                3097.896240234375,
                353.7301940917969
            ],
            "velocity": [
                7.7534403800964355,
                -0.10061220824718475,
                0.2837293744087219
            ],
            "speed_kmh": 27.933416533082855,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.4794921875,
                        "y": 3095.05859375,
                        "z": 352.7203369140625
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.396484375,
                        "y": 3098.557373046875,
                        "z": 352.7197265625
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.313232421875,
                        "y": 3102.056396484375,
                        "z": 352.7190246582031
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.226806640625,
                        "y": 3105.55517578125,
                        "z": 352.7178955078125
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3791,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.595319390296936,
                "transform": {
                    "location": {
                        "x": -1026.2125244140625,
                        "y": 3081.333251953125,
                        "z": 356.5455627441406
                    },
                    "rotation": {
                        "roll": -0.004699705634266138,
                        "pitch": -0.22762970626354218,
                        "yaw": 178.73158264160156
                    }
                },
                "velocity": {
                    "x": -0.5871971845626831,
                    "y": 0.005375185050070286,
                    "z": 0.09785573929548264
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3790,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5497971773147583,
                "transform": {
                    "location": {
                        "x": -1026.4915771484375,
                        "y": 3077.83642578125,
                        "z": 356.5545654296875
                    },
                    "rotation": {
                        "roll": -0.007171629928052425,
                        "pitch": -0.13440445065498352,
                        "yaw": 178.83250427246094
                    }
                },
                "velocity": {
                    "x": -1.5495855808258057,
                    "y": 0.014950296841561794,
                    "z": 0.020792808383703232
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.778214454650879,
                "transform": {
                    "location": {
                        "x": -1154.81884765625,
                        "y": 3094.711181640625,
                        "z": 353.1495666503906
                    },
                    "rotation": {
                        "roll": 0.0011107074096798897,
                        "pitch": 2.0822036266326904,
                        "yaw": -1.156829595565796
                    }
                },
                "velocity": {
                    "x": 7.772999286651611,
                    "y": -0.10949589312076569,
                    "z": 0.26289454102516174
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.581259250640869,
                "transform": {
                    "location": {
                        "x": -1154.756103515625,
                        "y": 3098.209716796875,
                        "z": 353.1508483886719
                    },
                    "rotation": {
                        "roll": -0.014190674759447575,
                        "pitch": 2.0626487731933594,
                        "yaw": -1.2369383573532104
                    }
                },
                "velocity": {
                    "x": 7.574909687042236,
                    "y": -0.12094354629516602,
                    "z": 0.2856806814670563
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.632080078125,
                        "y": 3101.706298828125,
                        "z": 353.152099609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.50390625,
                        "y": 3105.204345703125,
                        "z": 353.1539306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042044639587402,
                "transform": {
                    "location": {
                        "x": -1048.21923828125,
                        "y": 3078.22607421875,
                        "z": 356.3551940917969
                    },
                    "rotation": {
                        "roll": 0.001841365359723568,
                        "pitch": -0.7713332176208496,
                        "yaw": 178.7648162841797
                    }
                },
                "velocity": {
                    "x": -8.039420127868652,
                    "y": 0.17516160011291504,
                    "z": -0.10731986165046692
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.99889612197876,
                "transform": {
                    "location": {
                        "x": -1046.599853515625,
                        "y": 3081.69140625,
                        "z": 356.4093933105469
                    },
                    "rotation": {
                        "roll": -0.0012207033578306437,
                        "pitch": -0.7766948938369751,
                        "yaw": 178.7742462158203
                    }
                },
                "velocity": {
                    "x": -7.996353626251221,
                    "y": 0.17103484272956848,
                    "z": -0.10685281455516815
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.968317031860352,
                "transform": {
                    "location": {
                        "x": -1139.001953125,
                        "y": 3094.39794921875,
                        "z": 353.76080322265625
                    },
                    "rotation": {
                        "roll": 0.025365836918354034,
                        "pitch": 2.087155342102051,
                        "yaw": -0.632781982421875
                    }
                },
                "velocity": {
                    "x": 7.962085247039795,
                    "y": -0.10332688689231873,
                    "z": 0.2976551949977875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.75928258895874,
                "transform": {
                    "location": {
                        "x": -1138.951416015625,
                        "y": 3097.896240234375,
                        "z": 353.7301940917969
                    },
                    "rotation": {
                        "roll": 0.019824746996164322,
                        "pitch": 2.0909597873687744,
                        "yaw": -0.65679931640625
                    }
                },
                "velocity": {
                    "x": 7.7534403800964355,
                    "y": -0.10061220824718475,
                    "z": 0.2837293744087219
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.876874923706055,
                "transform": {
                    "location": {
                        "x": -1138.8311767578125,
                        "y": 3101.390625,
                        "z": 353.7176818847656
                    },
                    "rotation": {
                        "roll": 0.025477703660726547,
                        "pitch": 2.0861923694610596,
                        "yaw": -0.5937805771827698
                    }
                },
                "velocity": {
                    "x": 7.871210098266602,
                    "y": -0.09617948532104492,
                    "z": 0.2827760875225067
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.834399223327637,
                "transform": {
                    "location": {
                        "x": -1138.7025146484375,
                        "y": 3104.88427734375,
                        "z": 353.72650146484375
                    },
                    "rotation": {
                        "roll": -0.012451172806322575,
                        "pitch": 2.0609138011932373,
                        "yaw": -0.60028076171875
                    }
                },
                "velocity": {
                    "x": 7.828866958618164,
                    "y": -0.0876891240477562,
                    "z": 0.2810090482234955
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.398646354675293,
                "transform": {
                    "location": {
                        "x": -1068.803466796875,
                        "y": 3075.283447265625,
                        "z": 355.99114990234375
                    },
                    "rotation": {
                        "roll": 0.00021612610726151615,
                        "pitch": -1.2889659404754639,
                        "yaw": 178.72378540039062
                    }
                },
                "velocity": {
                    "x": -14.39189338684082,
                    "y": 0.3205784559249878,
                    "z": -0.30273839831352234
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1321.13671875,
                        "y": 3081.45263671875,
                        "z": 345.8840637207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1285.4427490234375,
                        "y": 3080.122802734375,
                        "z": 346.9755859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1259.0440673828125,
                        "y": 3079.53271484375,
                        "z": 348.09490966796875
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.386962890625,
                        "y": 3078.557373046875,
                        "z": 350.29998779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1177.9976806640625,
                        "y": 3077.722412109375,
                        "z": 352.23431396484375
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.288082122802734,
                "transform": {
                    "location": {
                        "x": -1097.923583984375,
                        "y": 3075.933349609375,
                        "z": 355.2090148925781
                    },
                    "rotation": {
                        "roll": -0.0007019032491371036,
                        "pitch": -1.460752010345459,
                        "yaw": 178.71754455566406
                    }
                },
                "velocity": {
                    "x": -16.275728225708008,
                    "y": 0.36247584223747253,
                    "z": -0.52047199010849
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1011.589599609375,
                        "y": 3048.3359375,
                        "z": 359.33441162109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.3778083324432373,
                        "yaw": 168.81666564941406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.04916000366211,
                "transform": {
                    "location": {
                        "x": -1030.70556640625,
                        "y": 3052.407470703125,
                        "z": 358.18194580078125
                    },
                    "rotation": {
                        "roll": 0.03751325234770775,
                        "pitch": -3.409910202026367,
                        "yaw": 166.71798706054688
                    }
                },
                "velocity": {
                    "x": -7.818876266479492,
                    "y": 1.8531653881072998,
                    "z": -0.4689671993255615
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0004653930664062,
        "expert_target_speed": 0,
        "target_point": [
            25.38725267214931,
            2.160054245674621
        ],
        "target_point_next": [
            38.00205282317905,
            4.579468125186018
        ]
    },
    "160": {
        "acceleration": [
            -1.7646408081054688,
            -3.0387306213378906,
            -0.3387939929962158
        ],
        "angular_velocity": [
            -2.7724597454071045,
            0.22460979223251343,
            9.772170066833496
        ],
        "forward_vector": [
            -0.9829794764518738,
            0.1813013255596161,
            -0.029685067012906075
        ],
        "right_vector": [
            -0.1814374327659607,
            -0.9834006428718567,
            0.001934198196977377
        ],
        "location": [
            -1099.552001953125,
            3070.50927734375,
            355.15545654296875
        ],
        "rotation": [
            -0.11087032407522202,
            -1.70107901096344,
            169.54977416992188
        ],
        "velocity": [
            -22.955543518066406,
            4.525344371795654,
            -0.7312358021736145
        ],
        "speed": 23.39734429146144,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.41245651245117,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1137.0177001953125,
                3097.869873046875,
                353.8006896972656
            ],
            "velocity": [
                7.718024730682373,
                -0.11233344674110413,
                0.2815294861793518
            ],
            "speed_kmh": 27.806308507991087,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.5577392578125,
                        "y": 3095.01513671875,
                        "z": 352.6575012207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.4957275390625,
                        "y": 3098.51513671875,
                        "z": 352.6570739746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.3907470703125,
                        "y": 3102.013671875,
                        "z": 352.65673828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.276611328125,
                        "y": 3105.51171875,
                        "z": 352.6537170410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3791,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1027.562744140625,
                        "y": 3081.362060546875,
                        "z": 356.5475158691406
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3790,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1027.60986328125,
                        "y": 3077.85986328125,
                        "z": 356.5515441894531
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.633486747741699,
                "transform": {
                    "location": {
                        "x": -1152.8946533203125,
                        "y": 3094.683349609375,
                        "z": 353.2162170410156
                    },
                    "rotation": {
                        "roll": 0.016998235136270523,
                        "pitch": 2.0860421657562256,
                        "yaw": -0.7882080078125
                    }
                },
                "velocity": {
                    "x": 7.628005027770996,
                    "y": -0.09750642627477646,
                    "z": 0.2723122239112854
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.714951992034912,
                "transform": {
                    "location": {
                        "x": -1152.8447265625,
                        "y": 3098.18017578125,
                        "z": 353.2240295410156
                    },
                    "rotation": {
                        "roll": -0.009552001953125,
                        "pitch": 2.065626621246338,
                        "yaw": -0.86151123046875
                    }
                },
                "velocity": {
                    "x": 7.708754062652588,
                    "y": -0.10243825614452362,
                    "z": 0.2917194366455078
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.490643501281738,
                "transform": {
                    "location": {
                        "x": -1152.7125244140625,
                        "y": 3101.673583984375,
                        "z": 353.2255859375
                    },
                    "rotation": {
                        "roll": -0.01989745907485485,
                        "pitch": 2.0521507263183594,
                        "yaw": -0.9629212021827698
                    }
                },
                "velocity": {
                    "x": 7.484469890594482,
                    "y": -0.10468617081642151,
                    "z": 0.28546980023384094
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.85386323928833,
                "transform": {
                    "location": {
                        "x": -1152.5555419921875,
                        "y": 3105.169677734375,
                        "z": 353.2451171875
                    },
                    "rotation": {
                        "roll": -0.004760744050145149,
                        "pitch": 2.075202703475952,
                        "yaw": -0.9738464951515198
                    }
                },
                "velocity": {
                    "x": 7.844263076782227,
                    "y": -0.0998479425907135,
                    "z": 0.37515366077423096
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06240177154541,
                "transform": {
                    "location": {
                        "x": -1050.2330322265625,
                        "y": 3078.2705078125,
                        "z": 356.3254089355469
                    },
                    "rotation": {
                        "roll": 0.0016070271376520395,
                        "pitch": -0.8834165930747986,
                        "yaw": 178.72491455078125
                    }
                },
                "velocity": {
                    "x": -8.059481620788574,
                    "y": 0.17845232784748077,
                    "z": -0.1234169751405716
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.037631034851074,
                "transform": {
                    "location": {
                        "x": -1048.6007080078125,
                        "y": 3081.73486328125,
                        "z": 356.3824768066406
                    },
                    "rotation": {
                        "roll": -0.0008544914308004081,
                        "pitch": -0.7715381383895874,
                        "yaw": 178.7546844482422
                    }
                },
                "velocity": {
                    "x": -8.034952163696289,
                    "y": 0.17485150694847107,
                    "z": -0.11176122725009918
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.672209739685059,
                "transform": {
                    "location": {
                        "x": -1137.0499267578125,
                        "y": 3094.371826171875,
                        "z": 353.8327331542969
                    },
                    "rotation": {
                        "roll": 0.021084357053041458,
                        "pitch": 2.0849220752716064,
                        "yaw": -0.7773438096046448
                    }
                },
                "velocity": {
                    "x": 7.666232585906982,
                    "y": -0.11304759979248047,
                    "z": 0.28089216351509094
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.723974704742432,
                "transform": {
                    "location": {
                        "x": -1137.0177001953125,
                        "y": 3097.869873046875,
                        "z": 353.8006896972656
                    },
                    "rotation": {
                        "roll": 0.014441139996051788,
                        "pitch": 2.0882346630096436,
                        "yaw": -0.7695617079734802
                    }
                },
                "velocity": {
                    "x": 7.718024730682373,
                    "y": -0.11233344674110413,
                    "z": 0.2815294861793518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.310115337371826,
                "transform": {
                    "location": {
                        "x": -1136.9857177734375,
                        "y": 3101.36669921875,
                        "z": 353.78515625
                    },
                    "rotation": {
                        "roll": 0.02176106907427311,
                        "pitch": 2.008314609527588,
                        "yaw": -0.7372129559516907
                    }
                },
                "velocity": {
                    "x": 6.305326461791992,
                    "y": -0.08860275149345398,
                    "z": 0.22927381098270416
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.929387092590332,
                "transform": {
                    "location": {
                        "x": -1136.73291015625,
                        "y": 3104.85986328125,
                        "z": 353.7976379394531
                    },
                    "rotation": {
                        "roll": 0.023063214495778084,
                        "pitch": 2.0805575847625732,
                        "yaw": -0.7031250596046448
                    }
                },
                "velocity": {
                    "x": 7.92353630065918,
                    "y": -0.10223706066608429,
                    "z": 0.2868767976760864
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.151701927185059,
                "transform": {
                    "location": {
                        "x": -1072.4991455078125,
                        "y": 3075.365478515625,
                        "z": 355.9107360839844
                    },
                    "rotation": {
                        "roll": 0.0005026233266107738,
                        "pitch": -1.3644394874572754,
                        "yaw": 178.72557067871094
                    }
                },
                "velocity": {
                    "x": -15.144003868103027,
                    "y": 0.3369654417037964,
                    "z": -0.3459298014640808
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1325.3795166015625,
                        "y": 3081.68017578125,
                        "z": 345.8041687011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1289.6864013671875,
                        "y": 3080.224853515625,
                        "z": 346.821044921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1263.28564453125,
                        "y": 3079.627685546875,
                        "z": 347.8985595703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1219.6270751953125,
                        "y": 3078.65234375,
                        "z": 350.0726623535156
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1182.2396240234375,
                        "y": 3077.817138671875,
                        "z": 352.0398864746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.56571388244629,
                "transform": {
                    "location": {
                        "x": -1102.04052734375,
                        "y": 3076.025634765625,
                        "z": 355.0744934082031
                    },
                    "rotation": {
                        "roll": 0.0012517150025814772,
                        "pitch": -1.6723239421844482,
                        "yaw": 178.7152557373047
                    }
                },
                "velocity": {
                    "x": -16.5522518157959,
                    "y": 0.3709651231765747,
                    "z": -0.5551836490631104
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1013.6284790039062,
                        "y": 3048.744873046875,
                        "z": 359.2120666503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.3778083324432373,
                        "yaw": 168.24371337890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.059427261352539,
                "transform": {
                    "location": {
                        "x": -1032.6614990234375,
                        "y": 3052.872802734375,
                        "z": 358.0650634765625
                    },
                    "rotation": {
                        "roll": 0.039434365928173065,
                        "pitch": -3.368095874786377,
                        "yaw": 166.59962463378906
                    }
                },
                "velocity": {
                    "x": -7.819666385650635,
                    "y": 1.895412564277649,
                    "z": -0.4632430076599121
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9998725056648254,
        "expert_target_speed": 0,
        "target_point": [
            19.64078077417608,
            1.3194506611025254
        ],
        "target_point_next": [
            32.34167316085691,
            3.236239369527464
        ]
    },
    "165": {
        "acceleration": [
            -1.7499923706054688,
            -3.673982620239258,
            -0.33983349800109863
        ],
        "angular_velocity": [
            -2.467073440551758,
            -0.6775723695755005,
            10.014204978942871
        ],
        "forward_vector": [
            -0.9898828864097595,
            0.13818176090717316,
            -0.0322132408618927
        ],
        "right_vector": [
            -0.1387007236480713,
            -0.9902287125587463,
            0.014464135281741619
        ],
        "location": [
            -1105.3472900390625,
            3071.534423828125,
            354.9655456542969
        ],
        "rotation": [
            -0.829193115234375,
            -1.8460019826889038,
            172.05320739746094
        ],
        "velocity": [
            -23.402931213378906,
            3.661313056945801,
            -0.8019288182258606
        ],
        "speed": 23.687600188265304,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 39.89185333251953,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1135.31201171875,
                3097.84521484375,
                353.8620910644531
            ],
            "velocity": [
                6.274200439453125,
                -0.09246836602687836,
                0.22864072024822235
            ],
            "speed_kmh": 22.604565445769627,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -1040.4722900390625,
                        "y": 3074.650146484375,
                        "z": 356.5377197265625
                    },
                    "rotation": {
                        "roll": -4.1690573215902305e-10,
                        "pitch": -0.616028368473053,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 2.3732731335712742e-09,
                    "y": -5.301652866718243e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.981089115142822,
                "transform": {
                    "location": {
                        "x": -1166.78125,
                        "y": 3094.976806640625,
                        "z": 352.7109375
                    },
                    "rotation": {
                        "roll": -0.014770506881177425,
                        "pitch": 1.9329502582550049,
                        "yaw": -1.2186278104782104
                    }
                },
                "velocity": {
                    "x": 5.978211402893066,
                    "y": -0.10230041295289993,
                    "z": 0.15476670861244202
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.2411370277404785,
                "transform": {
                    "location": {
                        "x": -1166.753662109375,
                        "y": 3098.476806640625,
                        "z": 352.70819091796875
                    },
                    "rotation": {
                        "roll": -0.004669187590479851,
                        "pitch": 1.9447665214538574,
                        "yaw": -1.2516785860061646
                    }
                },
                "velocity": {
                    "x": 5.238826751708984,
                    "y": -0.10125222057104111,
                    "z": 0.11815360933542252
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.518420219421387,
                "transform": {
                    "location": {
                        "x": -1166.6617431640625,
                        "y": 3101.9755859375,
                        "z": 352.71551513671875
                    },
                    "rotation": {
                        "roll": -0.005432129837572575,
                        "pitch": 2.167785882949829,
                        "yaw": -1.251250982284546
                    }
                },
                "velocity": {
                    "x": 5.512340068817139,
                    "y": -0.09500163793563843,
                    "z": 0.24092145264148712
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.3441162109375,
                        "y": 3105.46826171875,
                        "z": 352.71844482421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3791,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1029.645263671875,
                        "y": 3081.409423828125,
                        "z": 356.53961181640625
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3790,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1029.6922607421875,
                        "y": 3077.908447265625,
                        "z": 356.54156494140625
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.001223087310791,
                "transform": {
                    "location": {
                        "x": -1151.041259765625,
                        "y": 3094.659423828125,
                        "z": 353.2834167480469
                    },
                    "rotation": {
                        "roll": 0.01957344077527523,
                        "pitch": 2.075441598892212,
                        "yaw": -0.709625244140625
                    }
                },
                "velocity": {
                    "x": 6.996072292327881,
                    "y": -0.08717271685600281,
                    "z": 0.2539689838886261
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.9583821296691895,
                "transform": {
                    "location": {
                        "x": -1151.0224609375,
                        "y": 3098.154541015625,
                        "z": 353.29241943359375
                    },
                    "rotation": {
                        "roll": 0.022582225501537323,
                        "pitch": 1.9334967136383057,
                        "yaw": -0.6011962294578552
                    }
                },
                "velocity": {
                    "x": 5.953981399536133,
                    "y": -0.07657890766859055,
                    "z": 0.21577338874340057
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.937846660614014,
                "transform": {
                    "location": {
                        "x": -1151.1922607421875,
                        "y": 3101.65185546875,
                        "z": 353.2865295410156
                    },
                    "rotation": {
                        "roll": 0.01311149075627327,
                        "pitch": 1.5300101041793823,
                        "yaw": -0.7573241591453552
                    }
                },
                "velocity": {
                    "x": 4.934280872344971,
                    "y": -0.05859002470970154,
                    "z": 0.1782456934452057
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.521854877471924,
                "transform": {
                    "location": {
                        "x": -1150.6328125,
                        "y": 3105.144287109375,
                        "z": 353.3265075683594
                    },
                    "rotation": {
                        "roll": 0.014535403810441494,
                        "pitch": 2.0806326866149902,
                        "yaw": -0.7211609482765198
                    }
                },
                "velocity": {
                    "x": 7.515660762786865,
                    "y": -0.08453700691461563,
                    "z": 0.2932617664337158
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03735637664795,
                "transform": {
                    "location": {
                        "x": -1052.24267578125,
                        "y": 3078.31494140625,
                        "z": 356.29400634765625
                    },
                    "rotation": {
                        "roll": 0.001647342462092638,
                        "pitch": -0.9945301413536072,
                        "yaw": 178.7457275390625
                    }
                },
                "velocity": {
                    "x": -8.034238815307617,
                    "y": 0.1774786114692688,
                    "z": -0.13639068603515625
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.039931297302246,
                "transform": {
                    "location": {
                        "x": -1050.6116943359375,
                        "y": 3081.779296875,
                        "z": 356.3521423339844
                    },
                    "rotation": {
                        "roll": 8.338689183595704e-10,
                        "pitch": -0.9118370413780212,
                        "yaw": 178.73484802246094
                    }
                },
                "velocity": {
                    "x": -8.036938667297363,
                    "y": 0.17776744067668915,
                    "z": -0.1284618228673935
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.884334564208984,
                "transform": {
                    "location": {
                        "x": -1135.4259033203125,
                        "y": 3094.346923828125,
                        "z": 353.8931579589844
                    },
                    "rotation": {
                        "roll": 0.020350301638245583,
                        "pitch": 1.9613569974899292,
                        "yaw": -0.733642578125
                    }
                },
                "velocity": {
                    "x": 5.879756450653076,
                    "y": -0.08934005349874496,
                    "z": 0.21418923139572144
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.279046058654785,
                "transform": {
                    "location": {
                        "x": -1135.31201171875,
                        "y": 3097.84521484375,
                        "z": 353.8620910644531
                    },
                    "rotation": {
                        "roll": 0.015617648139595985,
                        "pitch": 2.187361240386963,
                        "yaw": -0.8242492079734802
                    }
                },
                "velocity": {
                    "x": 6.274200439453125,
                    "y": -0.09246836602687836,
                    "z": 0.22864072024822235
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.653567314147949,
                "transform": {
                    "location": {
                        "x": -1135.5262451171875,
                        "y": 3101.346435546875,
                        "z": 353.8380432128906
                    },
                    "rotation": {
                        "roll": 0.019017048180103302,
                        "pitch": 2.0337979793548584,
                        "yaw": -0.7966309189796448
                    }
                },
                "velocity": {
                    "x": 5.649240970611572,
                    "y": -0.08071324229240417,
                    "z": 0.20587022602558136
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.377038955688477,
                "transform": {
                    "location": {
                        "x": -1134.8800048828125,
                        "y": 3104.83544921875,
                        "z": 353.8662109375
                    },
                    "rotation": {
                        "roll": 0.02388487197458744,
                        "pitch": 1.7568202018737793,
                        "yaw": -0.7707518339157104
                    }
                },
                "velocity": {
                    "x": 6.372198581695557,
                    "y": -0.08703284710645676,
                    "z": 0.23266522586345673
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.79403018951416,
                "transform": {
                    "location": {
                        "x": -1076.37646484375,
                        "y": 3075.4521484375,
                        "z": 355.821044921875
                    },
                    "rotation": {
                        "roll": -0.000701905635651201,
                        "pitch": -1.4031939506530762,
                        "yaw": 178.72378540039062
                    }
                },
                "velocity": {
                    "x": -15.785754203796387,
                    "y": 0.35380738973617554,
                    "z": -0.36903753876686096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3771,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1329.621826171875,
                        "y": 3081.923583984375,
                        "z": 345.7387390136719
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1293.9296875,
                        "y": 3080.3427734375,
                        "z": 346.67333984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1267.5277099609375,
                        "y": 3079.722412109375,
                        "z": 347.7084045410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.8673095703125,
                        "y": 3078.7470703125,
                        "z": 349.8485107421875
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1186.4808349609375,
                        "y": 3077.912109375,
                        "z": 351.83807373046875
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.493410110473633,
                "transform": {
                    "location": {
                        "x": -1106.1676025390625,
                        "y": 3076.117431640625,
                        "z": 354.93292236328125
                    },
                    "rotation": {
                        "roll": 0.0015752144390717149,
                        "pitch": -1.9928237199783325,
                        "yaw": 178.72140502929688
                    }
                },
                "velocity": {
                    "x": -16.478910446166992,
                    "y": 0.3700658679008484,
                    "z": -0.584052324295044
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1015.6663818359375,
                        "y": 3049.158447265625,
                        "z": 359.0899658203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.3778083324432373,
                        "yaw": 168.24371337890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1034.660888671875,
                        "y": 3053.39208984375,
                        "z": 357.9492492675781
                    },
                    "rotation": {
                        "roll": 5.344449149902175e-08,
                        "pitch": -3.2059335708618164,
                        "yaw": 165.9518585205078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0010563135147095,
        "expert_target_speed": 0,
        "target_point": [
            13.79830282319101,
            0.6743917712899126
        ],
        "target_point_next": [
            26.570796684421282,
            2.034592835701849
        ]
    },
    "170": {
        "acceleration": [
            -1.5823745727539062,
            -4.056158065795898,
            -0.15452980995178223
        ],
        "angular_velocity": [
            -1.1001890897750854,
            -0.47444507479667664,
            10.23355770111084
        ],
        "forward_vector": [
            -0.9949909448623657,
            0.09387430548667908,
            -0.034360792487859726
        ],
        "right_vector": [
            -0.09462914615869522,
            -0.995290219783783,
            0.021040432155132294
        ],
        "location": [
            -1111.2476806640625,
            3072.329833984375,
            354.7557373046875
        ],
        "rotation": [
            -1.206329345703125,
            -1.9691160917282104,
            174.6102752685547
        ],
        "velocity": [
            -23.80036735534668,
            2.678112506866455,
            -0.86756831407547
        ],
        "speed": 23.95056936377268,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.000457763671875,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1133.7325439453125,
                3097.8203125,
                353.92047119140625
            ],
            "velocity": [
                6.553186416625977,
                -0.1258729100227356,
                0.23917195200920105
            ],
            "speed_kmh": 23.611526857111777,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.06603097170591354,
                "transform": {
                    "location": {
                        "x": -1040.4715576171875,
                        "y": 3074.650146484375,
                        "z": 356.4181213378906
                    },
                    "rotation": {
                        "roll": -0.001403807895258069,
                        "pitch": -0.5525144338607788,
                        "yaw": 178.72019958496094
                    }
                },
                "velocity": {
                    "x": -0.0006631285650655627,
                    "y": 5.383491497923387e-06,
                    "z": 0.06602764129638672
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.647833824157715,
                "transform": {
                    "location": {
                        "x": -1165.328125,
                        "y": 3094.9580078125,
                        "z": 352.75714111328125
                    },
                    "rotation": {
                        "roll": -0.006256101652979851,
                        "pitch": 2.1660988330841064,
                        "yaw": -0.8398436903953552
                    }
                },
                "velocity": {
                    "x": 5.643801689147949,
                    "y": -0.06119735538959503,
                    "z": 0.20441171526908875
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.915189027786255,
                "transform": {
                    "location": {
                        "x": -1165.56640625,
                        "y": 3098.4580078125,
                        "z": 352.7426452636719
                    },
                    "rotation": {
                        "roll": -0.00915527157485485,
                        "pitch": 2.0210938453674316,
                        "yaw": -1.417510986328125
                    }
                },
                "velocity": {
                    "x": 3.9121642112731934,
                    "y": -0.07786328345537186,
                    "z": 0.1327156275510788
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.463219404220581,
                "transform": {
                    "location": {
                        "x": -1165.890625,
                        "y": 3101.96435546875,
                        "z": 352.7572937011719
                    },
                    "rotation": {
                        "roll": 0.003572954563423991,
                        "pitch": 2.008376121520996,
                        "yaw": -1.042816162109375
                    }
                },
                "velocity": {
                    "x": 2.459972381591797,
                    "y": -0.02000338025391102,
                    "z": 0.12484370917081833
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.9018940925598145,
                "transform": {
                    "location": {
                        "x": -1164.97509765625,
                        "y": 3105.44677734375,
                        "z": 352.76190185546875
                    },
                    "rotation": {
                        "roll": 0.025466658174991608,
                        "pitch": 2.4382407665252686,
                        "yaw": -0.9995728135108948
                    }
                },
                "velocity": {
                    "x": 4.898468971252441,
                    "y": -0.03434835746884346,
                    "z": 0.1799609661102295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3791,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1031.727783203125,
                        "y": 3081.456787109375,
                        "z": 356.5305480957031
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3790,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1031.7747802734375,
                        "y": 3077.956787109375,
                        "z": 356.53076171875
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.45798397064209,
                "transform": {
                    "location": {
                        "x": -1149.3934326171875,
                        "y": 3094.638916015625,
                        "z": 353.3434753417969
                    },
                    "rotation": {
                        "roll": 0.021271657198667526,
                        "pitch": 2.0772721767425537,
                        "yaw": -0.7017211318016052
                    }
                },
                "velocity": {
                    "x": 6.4532036781311035,
                    "y": -0.07956501096487045,
                    "z": 0.2353505790233612
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.192409515380859,
                "transform": {
                    "location": {
                        "x": -1149.923095703125,
                        "y": 3098.139892578125,
                        "z": 353.3348693847656
                    },
                    "rotation": {
                        "roll": 0.02227862924337387,
                        "pitch": 1.5362597703933716,
                        "yaw": -0.4828796684741974
                    }
                },
                "velocity": {
                    "x": 4.189453125,
                    "y": -0.047296445816755295,
                    "z": 0.15013805031776428
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.884157657623291,
                "transform": {
                    "location": {
                        "x": -1149.961669921875,
                        "y": 3101.637451171875,
                        "z": 353.3274841308594
                    },
                    "rotation": {
                        "roll": 0.019521253183484077,
                        "pitch": 1.9316457509994507,
                        "yaw": -0.6933593153953552
                    }
                },
                "velocity": {
                    "x": 4.8806610107421875,
                    "y": -0.05381021276116371,
                    "z": 0.17676369845867157
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.852837562561035,
                "transform": {
                    "location": {
                        "x": -1148.83935546875,
                        "y": 3105.123291015625,
                        "z": 353.3945617675781
                    },
                    "rotation": {
                        "roll": 0.02740449272096157,
                        "pitch": 2.0246455669403076,
                        "yaw": -0.664306640625
                    }
                },
                "velocity": {
                    "x": 6.847445487976074,
                    "y": -0.09904072433710098,
                    "z": 0.2531140148639679
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050838470458984,
                "transform": {
                    "location": {
                        "x": -1054.2528076171875,
                        "y": 3078.359375,
                        "z": 356.2595520019531
                    },
                    "rotation": {
                        "roll": 0.0016160039231181145,
                        "pitch": -0.9803506731987,
                        "yaw": 178.71334838867188
                    }
                },
                "velocity": {
                    "x": -8.047632217407227,
                    "y": 0.1800038367509842,
                    "z": -0.13860024511814117
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0394287109375,
                "transform": {
                    "location": {
                        "x": -1052.6199951171875,
                        "y": 3081.82373046875,
                        "z": 356.3197326660156
                    },
                    "rotation": {
                        "roll": -0.0001220711274072528,
                        "pitch": -0.9892299175262451,
                        "yaw": 178.72898864746094
                    }
                },
                "velocity": {
                    "x": -8.036259651184082,
                    "y": 0.17830266058444977,
                    "z": -0.13838382065296173
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.96815824508667,
                "transform": {
                    "location": {
                        "x": -1133.963134765625,
                        "y": 3094.324951171875,
                        "z": 353.9455871582031
                    },
                    "rotation": {
                        "roll": 0.02341449074447155,
                        "pitch": 2.0671088695526123,
                        "yaw": -0.8170166015625
                    }
                },
                "velocity": {
                    "x": 5.963174819946289,
                    "y": -0.10953804850578308,
                    "z": 0.21786296367645264
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.558757305145264,
                "transform": {
                    "location": {
                        "x": -1133.7325439453125,
                        "y": 3097.8203125,
                        "z": 353.92047119140625
                    },
                    "rotation": {
                        "roll": 0.007087159436196089,
                        "pitch": 2.0812747478485107,
                        "yaw": -0.9038392305374146
                    }
                },
                "velocity": {
                    "x": 6.553186416625977,
                    "y": -0.1258729100227356,
                    "z": 0.23917195200920105
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.1532816886901855,
                "transform": {
                    "location": {
                        "x": -1134.0340576171875,
                        "y": 3101.325439453125,
                        "z": 353.89190673828125
                    },
                    "rotation": {
                        "roll": 0.01611316204071045,
                        "pitch": 2.098766803741455,
                        "yaw": -0.8573607206344604
                    }
                },
                "velocity": {
                    "x": 6.148545265197754,
                    "y": -0.08828464150428772,
                    "z": 0.22465886175632477
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.736789703369141,
                "transform": {
                    "location": {
                        "x": -1133.400390625,
                        "y": 3104.813720703125,
                        "z": 353.92022705078125
                    },
                    "rotation": {
                        "roll": 0.04196702316403389,
                        "pitch": 1.7155452966690063,
                        "yaw": -0.8110656142234802
                    }
                },
                "velocity": {
                    "x": 5.732123851776123,
                    "y": -0.0996672734618187,
                    "z": 0.2087562531232834
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.742934226989746,
                "transform": {
                    "location": {
                        "x": -1080.3275146484375,
                        "y": 3075.54052734375,
                        "z": 355.7233581542969
                    },
                    "rotation": {
                        "roll": -6.103351915953681e-05,
                        "pitch": -1.4810513257980347,
                        "yaw": 178.71409606933594
                    }
                },
                "velocity": {
                    "x": -15.733861923217773,
                    "y": 0.3508424758911133,
                    "z": -0.4030663073062897
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1298.173583984375,
                        "y": 3080.4755859375,
                        "z": 346.5306091308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1271.770263671875,
                        "y": 3079.8173828125,
                        "z": 347.52447509765625
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.107421875,
                        "y": 3078.841796875,
                        "z": 349.6272277832031
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1190.7216796875,
                        "y": 3078.0068359375,
                        "z": 351.62744140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.442968368530273,
                "transform": {
                    "location": {
                        "x": -1110.2781982421875,
                        "y": 3076.209228515625,
                        "z": 354.7861328125
                    },
                    "rotation": {
                        "roll": -0.00137328973505646,
                        "pitch": -2.0920662879943848,
                        "yaw": 178.7231903076172
                    }
                },
                "velocity": {
                    "x": -16.428152084350586,
                    "y": 0.36630484461784363,
                    "z": -0.5939735770225525
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1017.703125,
                        "y": 3049.578369140625,
                        "z": 358.9676818847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.3778083324432373,
                        "yaw": 167.67074584960938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.671875,
                        "y": 3053.924072265625,
                        "z": 357.83349609375
                    },
                    "rotation": {
                        "roll": 5.344449149902175e-08,
                        "pitch": -3.2059335708618164,
                        "yaw": 165.9518585205078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.000087857246399,
        "expert_target_speed": 0,
        "target_point": [
            7.865634641764315,
            0.29578586570405035
        ],
        "target_point_next": [
            20.68609553856242,
            1.0847907861342758
        ]
    },
    "175": {
        "acceleration": [
            -1.7154312133789062,
            -4.202425479888916,
            -0.02313971519470215
        ],
        "angular_velocity": [
            -0.7809363007545471,
            0.16247227787971497,
            10.310056686401367
        ],
        "forward_vector": [
            -0.9982143044471741,
            0.04877961799502373,
            -0.03447778895497322
        ],
        "right_vector": [
            -0.049659471958875656,
            -0.9984497427940369,
            0.02514073997735977
        ],
        "location": [
            -1117.25,
            3072.873291015625,
            354.53472900390625
        ],
        "rotation": [
            -1.4414674043655396,
            -1.9758234024047852,
            177.20236206054688
        ],
        "velocity": [
            -24.216875076293945,
            1.6387269496917725,
            -0.8905022740364075
        ],
        "speed": 24.27225709480832,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.968568801879883,
        "front_vehicle_info": {
            "id": 3782,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1132.01953125,
                3097.787841796875,
                353.9832763671875
            ],
            "velocity": [
                6.858351230621338,
                -0.13631153106689453,
                0.24983593821525574
            ],
            "speed_kmh": 24.71131373278034,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.4500732421875,
                        "y": 3074.739013671875,
                        "z": 356.404052734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.768548488616943,
                "transform": {
                    "location": {
                        "x": -1163.9010009765625,
                        "y": 3094.9423828125,
                        "z": 352.81103515625
                    },
                    "rotation": {
                        "roll": 0.02655285783112049,
                        "pitch": 2.234025001525879,
                        "yaw": -0.6927490234375
                    }
                },
                "velocity": {
                    "x": 5.7638750076293945,
                    "y": -0.07492642104625702,
                    "z": 0.2197262942790985
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.5993738174438477,
                "transform": {
                    "location": {
                        "x": -1164.6556396484375,
                        "y": 3098.4443359375,
                        "z": 352.7764892578125
                    },
                    "rotation": {
                        "roll": -0.00927734375,
                        "pitch": 2.181459903717041,
                        "yaw": -1.260345458984375
                    }
                },
                "velocity": {
                    "x": 3.596358060836792,
                    "y": -0.04468342661857605,
                    "z": 0.1403689682483673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3193585872650146,
                "transform": {
                    "location": {
                        "x": -1165.29248046875,
                        "y": 3101.9580078125,
                        "z": 352.78265380859375
                    },
                    "rotation": {
                        "roll": 0.014420943334698677,
                        "pitch": 2.2249953746795654,
                        "yaw": -0.8818054795265198
                    }
                },
                "velocity": {
                    "x": 2.3172123432159424,
                    "y": -0.01824636198580265,
                    "z": 0.09807603806257248
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.969578266143799,
                "transform": {
                    "location": {
                        "x": -1163.725830078125,
                        "y": 3105.43359375,
                        "z": 352.81097412109375
                    },
                    "rotation": {
                        "roll": 0.012172278016805649,
                        "pitch": 2.2901554107666016,
                        "yaw": -0.7978211641311646
                    }
                },
                "velocity": {
                    "x": 4.965476036071777,
                    "y": -0.0704728290438652,
                    "z": 0.18918094038963318
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3791,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1033.810302734375,
                        "y": 3081.502685546875,
                        "z": 356.5141296386719
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3790,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1033.8572998046875,
                        "y": 3078.003173828125,
                        "z": 356.5143737792969
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.115065097808838,
                "transform": {
                    "location": {
                        "x": -1147.8023681640625,
                        "y": 3094.615966796875,
                        "z": 353.4014892578125
                    },
                    "rotation": {
                        "roll": 0.01775801181793213,
                        "pitch": 2.081418037414551,
                        "yaw": -0.84130859375
                    }
                },
                "velocity": {
                    "x": 6.110152244567871,
                    "y": -0.10192704200744629,
                    "z": 0.22287225723266602
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.107846260070801,
                "transform": {
                    "location": {
                        "x": -1148.8809814453125,
                        "y": 3098.127685546875,
                        "z": 353.3682861328125
                    },
                    "rotation": {
                        "roll": 0.034625060856342316,
                        "pitch": 2.085085868835449,
                        "yaw": -0.5897827744483948
                    }
                },
                "velocity": {
                    "x": 4.104616165161133,
                    "y": -0.06322789937257767,
                    "z": 0.1501014083623886
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.9203083515167236,
                "transform": {
                    "location": {
                        "x": -1148.793701171875,
                        "y": 3101.623291015625,
                        "z": 353.3689270019531
                    },
                    "rotation": {
                        "roll": 0.03333710879087448,
                        "pitch": 2.061392068862915,
                        "yaw": -0.7040098905563354
                    }
                },
                "velocity": {
                    "x": 3.9172356128692627,
                    "y": -0.059989336878061295,
                    "z": 0.14312078058719635
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.369472026824951,
                "transform": {
                    "location": {
                        "x": -1147.2025146484375,
                        "y": 3105.098876953125,
                        "z": 353.4543151855469
                    },
                    "rotation": {
                        "roll": 0.02100902609527111,
                        "pitch": 2.0544729232788086,
                        "yaw": -0.8412476181983948
                    }
                },
                "velocity": {
                    "x": 6.364350318908691,
                    "y": -0.10548039525747299,
                    "z": 0.23258046805858612
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049781799316406,
                "transform": {
                    "location": {
                        "x": -1056.2650146484375,
                        "y": 3078.404296875,
                        "z": 356.2252502441406
                    },
                    "rotation": {
                        "roll": 0.0001609914907021448,
                        "pitch": -0.9787319302558899,
                        "yaw": 178.73243713378906
                    }
                },
                "velocity": {
                    "x": -8.046597480773926,
                    "y": 0.1787075400352478,
                    "z": -0.13895593583583832
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.019172668457031,
                "transform": {
                    "location": {
                        "x": -1054.6256103515625,
                        "y": 3081.868408203125,
                        "z": 356.28533935546875
                    },
                    "rotation": {
                        "roll": 0.00020033575128763914,
                        "pitch": -0.9771950840950012,
                        "yaw": 178.72657775878906
                    }
                },
                "velocity": {
                    "x": -8.015984535217285,
                    "y": 0.17961108684539795,
                    "z": -0.13735733926296234
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3783,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.767346382141113,
                "transform": {
                    "location": {
                        "x": -1132.317138671875,
                        "y": 3094.294921875,
                        "z": 354.00396728515625
                    },
                    "rotation": {
                        "roll": 0.01538928784430027,
                        "pitch": 2.250840902328491,
                        "yaw": -1.0224609375
                    }
                },
                "velocity": {
                    "x": 7.760679244995117,
                    "y": -0.15440651774406433,
                    "z": 0.2822886109352112
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3782,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.864253997802734,
                "transform": {
                    "location": {
                        "x": -1132.01953125,
                        "y": 3097.787841796875,
                        "z": 353.9832763671875
                    },
                    "rotation": {
                        "roll": 0.006530056241899729,
                        "pitch": 2.0430734157562256,
                        "yaw": -1.036041259765625
                    }
                },
                "velocity": {
                    "x": 6.858351230621338,
                    "y": -0.13631153106689453,
                    "z": 0.24983593821525574
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3781,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.310905456542969,
                "transform": {
                    "location": {
                        "x": -1132.153076171875,
                        "y": 3101.290771484375,
                        "z": 353.9597473144531
                    },
                    "rotation": {
                        "roll": 0.013828236609697342,
                        "pitch": 2.199594020843506,
                        "yaw": -1.0433045625686646
                    }
                },
                "velocity": {
                    "x": 8.303805351257324,
                    "y": -0.1631269007921219,
                    "z": 0.3022347092628479
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3780,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.752851486206055,
                "transform": {
                    "location": {
                        "x": -1131.912841796875,
                        "y": 3104.786865234375,
                        "z": 353.9728088378906
                    },
                    "rotation": {
                        "roll": 0.03149785101413727,
                        "pitch": 2.17661714553833,
                        "yaw": -0.9945678114891052
                    }
                },
                "velocity": {
                    "x": 6.747139930725098,
                    "y": -0.12934552133083344,
                    "z": 0.2457151561975479
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.609122276306152,
                "transform": {
                    "location": {
                        "x": -1084.23828125,
                        "y": 3075.627685546875,
                        "z": 355.6210021972656
                    },
                    "rotation": {
                        "roll": 0.0008440474630333483,
                        "pitch": -1.5080510377883911,
                        "yaw": 178.72198486328125
                    }
                },
                "velocity": {
                    "x": -15.599393844604492,
                    "y": 0.3482113480567932,
                    "z": -0.4270080327987671
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1302.4188232421875,
                        "y": 3080.623046875,
                        "z": 346.38970947265625
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1276.0152587890625,
                        "y": 3079.912109375,
                        "z": 347.34674072265625
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1232.350341796875,
                        "y": 3078.936767578125,
                        "z": 349.4086608886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1194.964111328125,
                        "y": 3078.1015625,
                        "z": 351.41033935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.442401885986328,
                "transform": {
                    "location": {
                        "x": -1114.3843994140625,
                        "y": 3076.30126953125,
                        "z": 354.6363220214844
                    },
                    "rotation": {
                        "roll": 0.0009845421882346272,
                        "pitch": -2.1293933391571045,
                        "yaw": 178.7174530029297
                    }
                },
                "velocity": {
                    "x": -16.427217483520508,
                    "y": 0.36741986870765686,
                    "z": -0.6034192442893982
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1019.7369995117188,
                        "y": 3050.01123046875,
                        "z": 358.8456115722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.3778083324432373,
                        "yaw": 167.67074584960938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.687744140625,
                        "y": 3054.43798828125,
                        "z": 357.7194519042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.070709466934204,
                        "yaw": 165.37890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0000056028366089,
        "expert_target_speed": 0,
        "target_point": [
            14.692298969844265,
            0.39799947448828443
        ],
        "target_point_next": [
            20.78297607859062,
            -2.9417623926529433
        ]
    },
    "180": {
        "acceleration": [
            -1.847991943359375,
            -3.2579970359802246,
            -0.06208300590515137
        ],
        "angular_velocity": [
            0.43576058745384216,
            0.1135253980755806,
            6.425348281860352
        ],
        "forward_vector": [
            -0.9993538856506348,
            0.012015934102237225,
            -0.03387410566210747
        ],
        "right_vector": [
            -0.012882014736533165,
            -0.999592661857605,
            0.025466404855251312
        ],
        "location": [
            -1123.361328125,
            3073.168701171875,
            354.3104248046875
        ],
        "rotation": [
            -1.4601134061813354,
            -1.9412147998809814,
            179.31112670898438
        ],
        "velocity": [
            -24.66619110107422,
            0.7277271747589111,
            -0.9022632241249084
        ],
        "speed": 24.676923841427147,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.0748291015625,
        "front_vehicle_info": {
            "id": 3788,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1148.000732421875,
                3098.114990234375,
                353.40155029296875
            ],
            "velocity": [
                3.0779812335968018,
                -0.05181988701224327,
                0.11344242095947266
            ],
            "speed_kmh": 11.089824955104842,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.3536376953125,
                        "y": 3074.826171875,
                        "z": 356.3541259765625
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.124330043792725,
                "transform": {
                    "location": {
                        "x": -1162.6204833984375,
                        "y": 3094.924560546875,
                        "z": 352.8602294921875
                    },
                    "rotation": {
                        "roll": 0.025611279532313347,
                        "pitch": 2.1526637077331543,
                        "yaw": -0.7963258028030396
                    }
                },
                "velocity": {
                    "x": 5.119899272918701,
                    "y": -0.07389272004365921,
                    "z": 0.19982010126113892
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.284313917160034,
                "transform": {
                    "location": {
                        "x": -1163.7811279296875,
                        "y": 3098.43212890625,
                        "z": 352.8103332519531
                    },
                    "rotation": {
                        "roll": 0.011387216858565807,
                        "pitch": 2.2089855670928955,
                        "yaw": -1.027374267578125
                    }
                },
                "velocity": {
                    "x": 3.281412363052368,
                    "y": -0.05094612389802933,
                    "z": 0.1282811164855957
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.418226480484009,
                "transform": {
                    "location": {
                        "x": -1164.7132568359375,
                        "y": 3101.952392578125,
                        "z": 352.80584716796875
                    },
                    "rotation": {
                        "roll": 0.020825762301683426,
                        "pitch": 2.286638021469116,
                        "yaw": -0.7642517685890198
                    }
                },
                "velocity": {
                    "x": 2.416196346282959,
                    "y": -0.018473196774721146,
                    "z": 0.09733249247074127
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.862836837768555,
                "transform": {
                    "location": {
                        "x": -1162.498779296875,
                        "y": 3105.416259765625,
                        "z": 352.8585510253906
                    },
                    "rotation": {
                        "roll": 0.017211010679602623,
                        "pitch": 2.211273670196533,
                        "yaw": -0.8076171875
                    }
                },
                "velocity": {
                    "x": 4.8587965965271,
                    "y": -0.06808919459581375,
                    "z": 0.18611523509025574
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3791,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1035.892822265625,
                        "y": 3081.549560546875,
                        "z": 356.4978332519531
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3790,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1035.9398193359375,
                        "y": 3078.050048828125,
                        "z": 356.4980773925781
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.11740779876709,
                "transform": {
                    "location": {
                        "x": -1146.30419921875,
                        "y": 3094.5908203125,
                        "z": 353.4560852050781
                    },
                    "rotation": {
                        "roll": 0.012539541348814964,
                        "pitch": 2.088582992553711,
                        "yaw": -0.9576719999313354
                    }
                },
                "velocity": {
                    "x": 6.112396240234375,
                    "y": -0.10855257511138916,
                    "z": 0.22249440848827362
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.0805070400238037,
                "transform": {
                    "location": {
                        "x": -1148.000732421875,
                        "y": 3098.114990234375,
                        "z": 353.40155029296875
                    },
                    "rotation": {
                        "roll": 0.026032252237200737,
                        "pitch": 1.9628186225891113,
                        "yaw": -0.7434082627296448
                    }
                },
                "velocity": {
                    "x": 3.0779812335968018,
                    "y": -0.05181988701224327,
                    "z": 0.11344242095947266
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.8389482498168945,
                "transform": {
                    "location": {
                        "x": -1147.886474609375,
                        "y": 3101.609375,
                        "z": 353.4029235839844
                    },
                    "rotation": {
                        "roll": 0.024419402703642845,
                        "pitch": 1.9563641548156738,
                        "yaw": -0.8005982041358948
                    }
                },
                "velocity": {
                    "x": 3.8358705043792725,
                    "y": -0.06356551498174667,
                    "z": 0.1399265080690384
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.486361026763916,
                "transform": {
                    "location": {
                        "x": -1145.595947265625,
                        "y": 3105.07275390625,
                        "z": 353.5127258300781
                    },
                    "rotation": {
                        "roll": 0.014857949689030647,
                        "pitch": 2.0820260047912598,
                        "yaw": -0.9307861924171448
                    }
                },
                "velocity": {
                    "x": 6.481136798858643,
                    "y": -0.11034219712018967,
                    "z": 0.23572827875614166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045544624328613,
                "transform": {
                    "location": {
                        "x": -1058.275390625,
                        "y": 3078.448974609375,
                        "z": 356.1895751953125
                    },
                    "rotation": {
                        "roll": -0.00024414152721874416,
                        "pitch": -1.045688271522522,
                        "yaw": 178.7117919921875
                    }
                },
                "velocity": {
                    "x": -8.042254447937012,
                    "y": 0.1806781142950058,
                    "z": -0.1424187868833542
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.061159133911133,
                "transform": {
                    "location": {
                        "x": -1056.6358642578125,
                        "y": 3081.913330078125,
                        "z": 356.2509765625
                    },
                    "rotation": {
                        "roll": 0.0003413317317608744,
                        "pitch": -0.9797974228858948,
                        "yaw": 178.7191925048828
                    }
                },
                "velocity": {
                    "x": -8.057839393615723,
                    "y": 0.18173947930335999,
                    "z": -0.1431550830602646
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.647637367248535,
                "transform": {
                    "location": {
                        "x": -1088.1414794921875,
                        "y": 3075.71484375,
                        "z": 355.51300048828125
                    },
                    "rotation": {
                        "roll": 0.0003154676523990929,
                        "pitch": -1.613249659538269,
                        "yaw": 178.72166442871094
                    }
                },
                "velocity": {
                    "x": -15.63752555847168,
                    "y": 0.34892070293426514,
                    "z": -0.4411359429359436
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1306.6634521484375,
                        "y": 3080.783935546875,
                        "z": 346.25262451171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1280.260009765625,
                        "y": 3080.007080078125,
                        "z": 347.17535400390625
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1236.5931396484375,
                        "y": 3079.03173828125,
                        "z": 349.1934814453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1199.206298828125,
                        "y": 3078.1962890625,
                        "z": 351.1853942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.448915481567383,
                "transform": {
                    "location": {
                        "x": -1118.4921875,
                        "y": 3076.39306640625,
                        "z": 354.4858093261719
                    },
                    "rotation": {
                        "roll": 0.0009263820829801261,
                        "pitch": -2.1210262775421143,
                        "yaw": 178.7167205810547
                    }
                },
                "velocity": {
                    "x": -16.43376922607422,
                    "y": 0.3679085075855255,
                    "z": -0.6022555232048035
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1021.77099609375,
                        "y": 3050.4453125,
                        "z": 358.7234191894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.3778083324432373,
                        "yaw": 167.67074584960938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1040.7025146484375,
                        "y": 3054.954345703125,
                        "z": 357.6061096191406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.070709466934204,
                        "yaw": 165.37890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9996198415756226,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            8.582556001856195,
            0.07902103246054075
        ],
        "target_point_next": [
            14.546217303963791,
            -3.48259388860573
        ]
    },
    "185": {
        "acceleration": [
            -1.8636703491210938,
            -2.4848780632019043,
            -0.06956100463867188
        ],
        "angular_velocity": [
            0.8191723227500916,
            0.1031389832496643,
            4.576033115386963
        ],
        "forward_vector": [
            -0.9993852376937866,
            -0.010709458030760288,
            -0.03338455781340599
        ],
        "right_vector": [
            0.009964734315872192,
            -0.9996995329856873,
            0.022394536063075066
        ],
        "location": [
            -1129.588623046875,
            3073.26171875,
            354.0830078125
        ],
        "rotation": [
            -1.283935546875,
            -1.9131495952606201,
            -179.38604736328125
        ],
        "velocity": [
            -25.132463455200195,
            0.024582035839557648,
            -0.9169370532035828
        ],
        "speed": 25.132475477028905,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.418800354003906,
        "front_vehicle_info": {
            "id": 3788,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1147.1356201171875,
                3098.100830078125,
                353.43121337890625
            ],
            "velocity": [
                4.161683082580566,
                -0.07060574740171432,
                0.15140801668167114
            ],
            "speed_kmh": 14.99412560572937,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.266845703125,
                        "y": 3074.91357421875,
                        "z": 356.2966003417969
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.531062602996826,
                "transform": {
                    "location": {
                        "x": -1161.29931640625,
                        "y": 3094.9052734375,
                        "z": 352.9112548828125
                    },
                    "rotation": {
                        "roll": 0.020668720826506615,
                        "pitch": 2.226832866668701,
                        "yaw": -0.8394165635108948
                    }
                },
                "velocity": {
                    "x": 5.5265021324157715,
                    "y": -0.08292940258979797,
                    "z": 0.2086896300315857
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.1241514682769775,
                "transform": {
                    "location": {
                        "x": -1162.9835205078125,
                        "y": 3098.420166015625,
                        "z": 352.84124755859375
                    },
                    "rotation": {
                        "roll": 0.013365715742111206,
                        "pitch": 2.1892940998077393,
                        "yaw": -0.9477841854095459
                    }
                },
                "velocity": {
                    "x": 3.1214096546173096,
                    "y": -0.04627148434519768,
                    "z": 0.12240704894065857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.52683424949646,
                "transform": {
                    "location": {
                        "x": -1163.982666015625,
                        "y": 3101.9443359375,
                        "z": 352.8338317871094
                    },
                    "rotation": {
                        "roll": 0.027032043784856796,
                        "pitch": 2.3670291900634766,
                        "yaw": -0.7244872450828552
                    }
                },
                "velocity": {
                    "x": 3.5238397121429443,
                    "y": -0.053133267909288406,
                    "z": 0.13524320721626282
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.129717826843262,
                "transform": {
                    "location": {
                        "x": -1161.276123046875,
                        "y": 3105.39892578125,
                        "z": 352.9061279296875
                    },
                    "rotation": {
                        "roll": 0.01766459085047245,
                        "pitch": 2.1260533332824707,
                        "yaw": -0.80975341796875
                    }
                },
                "velocity": {
                    "x": 5.125278949737549,
                    "y": -0.07209396362304688,
                    "z": 0.20080675184726715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3791,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1037.975341796875,
                        "y": 3081.595458984375,
                        "z": 356.4781188964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3790,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.0223388671875,
                        "y": 3078.09619140625,
                        "z": 356.4784240722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.331451416015625,
                "transform": {
                    "location": {
                        "x": -1144.6336669921875,
                        "y": 3094.561279296875,
                        "z": 353.5167541503906
                    },
                    "rotation": {
                        "roll": 0.010160227306187153,
                        "pitch": 2.113281011581421,
                        "yaw": -1.015747308731079
                    }
                },
                "velocity": {
                    "x": 7.3253493309021,
                    "y": -0.13337096571922302,
                    "z": 0.26767343282699585
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.165035247802734,
                "transform": {
                    "location": {
                        "x": -1147.1356201171875,
                        "y": 3098.100830078125,
                        "z": 353.43121337890625
                    },
                    "rotation": {
                        "roll": 0.019469494000077248,
                        "pitch": 2.209258794784546,
                        "yaw": -0.8264465928077698
                    }
                },
                "velocity": {
                    "x": 4.161683082580566,
                    "y": -0.07060574740171432,
                    "z": 0.15140801668167114
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.1418657302856445,
                "transform": {
                    "location": {
                        "x": -1146.7042236328125,
                        "y": 3101.590576171875,
                        "z": 353.4422607421875
                    },
                    "rotation": {
                        "roll": 0.016944633796811104,
                        "pitch": 2.443110704421997,
                        "yaw": -0.8735046982765198
                    }
                },
                "velocity": {
                    "x": 5.137675762176514,
                    "y": -0.08570200949907303,
                    "z": 0.18902185559272766
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.065456867218018,
                "transform": {
                    "location": {
                        "x": -1144.2315673828125,
                        "y": 3105.050048828125,
                        "z": 353.563232421875
                    },
                    "rotation": {
                        "roll": 0.010858550667762756,
                        "pitch": 1.9899959564208984,
                        "yaw": -0.9873656630516052
                    }
                },
                "velocity": {
                    "x": 5.061277389526367,
                    "y": -0.08774755895137787,
                    "z": 0.1860795021057129
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050800323486328,
                "transform": {
                    "location": {
                        "x": -1060.2862548828125,
                        "y": 3078.49365234375,
                        "z": 356.1529541015625
                    },
                    "rotation": {
                        "roll": -6.10357747063972e-05,
                        "pitch": -1.0866693258285522,
                        "yaw": 178.74053955078125
                    }
                },
                "velocity": {
                    "x": -8.047395706176758,
                    "y": 0.1788615584373474,
                    "z": -0.15106256306171417
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3784,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.6580810546875,
                        "y": 3081.971435546875,
                        "z": 356.2100830078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.667588233947754,
                "transform": {
                    "location": {
                        "x": -1092.0538330078125,
                        "y": 3075.802490234375,
                        "z": 355.3995361328125
                    },
                    "rotation": {
                        "roll": -6.1034286773065105e-05,
                        "pitch": -1.7302507162094116,
                        "yaw": 178.71665954589844
                    }
                },
                "velocity": {
                    "x": -15.656609535217285,
                    "y": 0.3507586121559143,
                    "z": -0.4699629843235016
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1310.9075927734375,
                        "y": 3080.960205078125,
                        "z": 346.1265869140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1284.5047607421875,
                        "y": 3080.101806640625,
                        "z": 347.0110778808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.835693359375,
                        "y": 3079.126220703125,
                        "z": 348.9809265136719
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1203.4478759765625,
                        "y": 3078.290771484375,
                        "z": 350.9534606933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.45047378540039,
                "transform": {
                    "location": {
                        "x": -1122.6009521484375,
                        "y": 3076.48486328125,
                        "z": 354.3357238769531
                    },
                    "rotation": {
                        "roll": 0.0007395120337605476,
                        "pitch": -2.119475841522217,
                        "yaw": 178.71636962890625
                    }
                },
                "velocity": {
                    "x": -16.43541145324707,
                    "y": 0.36811327934265137,
                    "z": -0.599895715713501
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3764,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1023.8010864257812,
                        "y": 3050.896484375,
                        "z": 358.6011962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.3778083324432373,
                        "yaw": 167.0977783203125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3763,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.7152099609375,
                        "y": 3055.48046875,
                        "z": 357.4950256347656
                    },
                    "rotation": {
                        "roll": -2.671548138266644e-08,
                        "pitch": -2.9355127811431885,
                        "yaw": 164.8059844970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9994709491729736,
        "expert_target_speed": 0,
        "target_point": [
            8.237334309996614,
            -3.652684124546708
        ],
        "target_point_next": [
            59.20938591638123,
            -5.3378772782052915
        ]
    },
    "190": {
        "acceleration": [
            -1.8999481201171875,
            -0.6714469194412231,
            -0.07724642753601074
        ],
        "angular_velocity": [
            2.083224296569824,
            0.07718911021947861,
            -0.5993488430976868
        ],
        "forward_vector": [
            -0.9992103576660156,
            -0.02194230630993843,
            -0.03312363103032112
        ],
        "right_vector": [
            0.02141493372619152,
            -0.9996395707130432,
            0.016193069517612457
        ],
        "location": [
            -1135.9326171875,
            3073.21337890625,
            353.8515930175781
        ],
        "rotation": [
            -0.9283445477485657,
            -1.8981914520263672,
            -178.74200439453125
        ],
        "velocity": [
            -25.602508544921875,
            -0.35914114117622375,
            -0.9328084588050842
        ],
        "speed": 25.605027360893075,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.431884765625,
                        "y": 3106.43115234375,
                        "z": 350.6645202636719
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.510009765625,
                        "y": 3102.932373046875,
                        "z": 350.6645202636719
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.588134765625,
                        "y": 3099.433349609375,
                        "z": 350.6645202636719
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.6663818359375,
                        "y": 3095.93408203125,
                        "z": 350.6645202636719
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.1810302734375,
                        "y": 3075.001220703125,
                        "z": 356.2294921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.874151706695557,
                "transform": {
                    "location": {
                        "x": -1159.8309326171875,
                        "y": 3094.88330078125,
                        "z": 352.9664001464844
                    },
                    "rotation": {
                        "roll": 0.020293809473514557,
                        "pitch": 2.4130373001098633,
                        "yaw": -0.7804566025733948
                    }
                },
                "velocity": {
                    "x": 6.868630886077881,
                    "y": -0.10091231763362885,
                    "z": 0.2562965154647827
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.0542144775390625,
                "transform": {
                    "location": {
                        "x": -1162.1124267578125,
                        "y": 3098.407470703125,
                        "z": 352.87530517578125
                    },
                    "rotation": {
                        "roll": 0.014577283523976803,
                        "pitch": 2.2860095500946045,
                        "yaw": -0.8875426650047302
                    }
                },
                "velocity": {
                    "x": 4.050768852233887,
                    "y": -0.05869663134217262,
                    "z": 0.1564692258834839
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.801239490509033,
                "transform": {
                    "location": {
                        "x": -1162.9334716796875,
                        "y": 3101.928955078125,
                        "z": 352.8741455078125
                    },
                    "rotation": {
                        "roll": 0.02137746289372444,
                        "pitch": 2.3584437370300293,
                        "yaw": -0.78228759765625
                    }
                },
                "velocity": {
                    "x": 4.797211647033691,
                    "y": -0.07168742269277573,
                    "z": 0.1830916553735733
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.499593734741211,
                "transform": {
                    "location": {
                        "x": -1159.9603271484375,
                        "y": 3105.380615234375,
                        "z": 352.95611572265625
                    },
                    "rotation": {
                        "roll": 0.016080349683761597,
                        "pitch": 2.103588819503784,
                        "yaw": -0.8570252060890198
                    }
                },
                "velocity": {
                    "x": 5.49517822265625,
                    "y": -0.07983306050300598,
                    "z": 0.20536361634731293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.137130737304688,
                "transform": {
                    "location": {
                        "x": -1142.7293701171875,
                        "y": 3094.525634765625,
                        "z": 353.5862121582031
                    },
                    "rotation": {
                        "roll": 0.008811235427856445,
                        "pitch": 2.1127822399139404,
                        "yaw": -1.09381103515625
                    }
                },
                "velocity": {
                    "x": 8.130093574523926,
                    "y": -0.1624329686164856,
                    "z": 0.2968021631240845
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.100861072540283,
                "transform": {
                    "location": {
                        "x": -1145.890625,
                        "y": 3098.080322265625,
                        "z": 353.4746398925781
                    },
                    "rotation": {
                        "roll": 0.016457445919513702,
                        "pitch": 2.470144510269165,
                        "yaw": -0.90875244140625
                    }
                },
                "velocity": {
                    "x": 5.096701145172119,
                    "y": -0.08779852837324142,
                    "z": 0.1863044947385788
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.600013256072998,
                "transform": {
                    "location": {
                        "x": -1145.2579345703125,
                        "y": 3101.56689453125,
                        "z": 353.4951477050781
                    },
                    "rotation": {
                        "roll": 0.015051417984068394,
                        "pitch": 2.4377081394195557,
                        "yaw": -0.9729003310203552
                    }
                },
                "velocity": {
                    "x": 6.594698905944824,
                    "y": -0.1126432791352272,
                    "z": 0.23965516686439514
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.584900856018066,
                "transform": {
                    "location": {
                        "x": -1142.920654296875,
                        "y": 3105.0244140625,
                        "z": 353.60992431640625
                    },
                    "rotation": {
                        "roll": 0.013946178369224072,
                        "pitch": 2.1212449073791504,
                        "yaw": -0.9995422959327698
                    }
                },
                "velocity": {
                    "x": 5.580145835876465,
                    "y": -0.10774333029985428,
                    "z": 0.20367515087127686
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.660345077514648,
                "transform": {
                    "location": {
                        "x": -1095.966796875,
                        "y": 3075.889892578125,
                        "z": 355.2797546386719
                    },
                    "rotation": {
                        "roll": -0.0008544927695766091,
                        "pitch": -1.7546344995498657,
                        "yaw": 178.7169189453125
                    }
                },
                "velocity": {
                    "x": -15.648634910583496,
                    "y": 0.35367822647094727,
                    "z": -0.49146750569343567
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1315.1514892578125,
                        "y": 3081.154296875,
                        "z": 346.0167236328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1288.7496337890625,
                        "y": 3080.202392578125,
                        "z": 346.85516357421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.0782470703125,
                        "y": 3079.220947265625,
                        "z": 348.7712707519531
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.68896484375,
                        "y": 3078.385498046875,
                        "z": 350.72027587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.44997215270996,
                "transform": {
                    "location": {
                        "x": -1126.709716796875,
                        "y": 3076.576904296875,
                        "z": 354.18585205078125
                    },
                    "rotation": {
                        "roll": 0.0030635439325124025,
                        "pitch": -2.119168519973755,
                        "yaw": 178.71449279785156
                    }
                },
                "velocity": {
                    "x": -16.43488311767578,
                    "y": 0.3704962730407715,
                    "z": -0.5990983247756958
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0010902881622314,
        "expert_target_speed": 0,
        "target_point": [
            52.802117221461295,
            -5.912144066934566
        ],
        "target_point_next": [
            103.7521223612336,
            -8.170440197809103
        ]
    },
    "195": {
        "acceleration": [
            -1.90155029296875,
            1.6824307441711426,
            -0.08647680282592773
        ],
        "angular_velocity": [
            3.2150075435638428,
            0.028960149735212326,
            -7.078617095947266
        ],
        "forward_vector": [
            -0.9994495511054993,
            -0.0032251428347080946,
            -0.03301878646016121
        ],
        "right_vector": [
            0.0030872172210365534,
            -0.9999863505363464,
            0.0042273132130503654
        ],
        "location": [
            -1142.3955078125,
            3073.135986328125,
            353.6161193847656
        ],
        "rotation": [
            -0.242340087890625,
            -1.8921809196472168,
            -179.8151092529297
        ],
        "velocity": [
            -26.07993507385254,
            -0.18289996683597565,
            -0.9506191611289978
        ],
        "speed": 26.08057640954725,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.350830078125,
                        "y": 3106.38427734375,
                        "z": 350.7530517578125
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.428955078125,
                        "y": 3102.885498046875,
                        "z": 350.7530517578125
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.507080078125,
                        "y": 3099.386474609375,
                        "z": 350.7530517578125
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.58544921875,
                        "y": 3095.88720703125,
                        "z": 350.7530517578125
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1060.0941162109375,
                        "y": 3075.088623046875,
                        "z": 356.1570129394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.421308517456055,
                "transform": {
                    "location": {
                        "x": -1157.8671875,
                        "y": 3094.850830078125,
                        "z": 353.0395202636719
                    },
                    "rotation": {
                        "roll": 0.02553923986852169,
                        "pitch": 2.4651176929473877,
                        "yaw": -0.9572752714157104
                    }
                },
                "velocity": {
                    "x": 8.41421127319336,
                    "y": -0.15031687915325165,
                    "z": 0.31128090620040894
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.319444179534912,
                "transform": {
                    "location": {
                        "x": -1160.928466796875,
                        "y": 3098.390625,
                        "z": 352.9207763671875
                    },
                    "rotation": {
                        "roll": 0.016510071232914925,
                        "pitch": 2.3475632667541504,
                        "yaw": -0.8382874131202698
                    }
                },
                "velocity": {
                    "x": 5.315107345581055,
                    "y": -0.07548325508832932,
                    "z": 0.2010466456413269
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.224948883056641,
                "transform": {
                    "location": {
                        "x": -1161.640380859375,
                        "y": 3101.909423828125,
                        "z": 352.9251403808594
                    },
                    "rotation": {
                        "roll": 0.02213342860341072,
                        "pitch": 2.2336630821228027,
                        "yaw": -0.7031861543655396
                    }
                },
                "velocity": {
                    "x": 5.22059965133667,
                    "y": -0.07723809778690338,
                    "z": 0.19865986704826355
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.949872970581055,
                "transform": {
                    "location": {
                        "x": -1158.50830078125,
                        "y": 3105.3583984375,
                        "z": 353.0106201171875
                    },
                    "rotation": {
                        "roll": 0.007408343721181154,
                        "pitch": 2.0837950706481934,
                        "yaw": -0.8853759169578552
                    }
                },
                "velocity": {
                    "x": 5.944762229919434,
                    "y": -0.10822432488203049,
                    "z": 0.22153548896312714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.459362030029297,
                "transform": {
                    "location": {
                        "x": -1140.6346435546875,
                        "y": 3094.4833984375,
                        "z": 353.6626892089844
                    },
                    "rotation": {
                        "roll": 0.004557160194963217,
                        "pitch": 2.1010069847106934,
                        "yaw": -1.168609619140625
                    }
                },
                "velocity": {
                    "x": 8.451948165893555,
                    "y": -0.1747056543827057,
                    "z": 0.3079729974269867
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.785827159881592,
                "transform": {
                    "location": {
                        "x": -1144.37841796875,
                        "y": 3098.054931640625,
                        "z": 353.53021240234375
                    },
                    "rotation": {
                        "roll": 0.013390636071562767,
                        "pitch": 2.4074161052703857,
                        "yaw": -1.03106689453125
                    }
                },
                "velocity": {
                    "x": 6.780253887176514,
                    "y": -0.1202421635389328,
                    "z": 0.2472853660583496
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.332764148712158,
                "transform": {
                    "location": {
                        "x": -1143.4588623046875,
                        "y": 3101.53564453125,
                        "z": 353.56121826171875
                    },
                    "rotation": {
                        "roll": 0.016874004155397415,
                        "pitch": 2.3548169136047363,
                        "yaw": -1.0139158964157104
                    }
                },
                "velocity": {
                    "x": 7.32660436630249,
                    "y": -0.1370389312505722,
                    "z": 0.26743176579475403
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.975386619567871,
                "transform": {
                    "location": {
                        "x": -1141.4873046875,
                        "y": 3104.99658203125,
                        "z": 353.6621398925781
                    },
                    "rotation": {
                        "roll": 0.010929455049335957,
                        "pitch": 2.127323865890503,
                        "yaw": -1.038848876953125
                    }
                },
                "velocity": {
                    "x": 5.970212459564209,
                    "y": -0.12118552625179291,
                    "z": 0.21708150207996368
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.661652565002441,
                "transform": {
                    "location": {
                        "x": -1099.8782958984375,
                        "y": 3075.9775390625,
                        "z": 355.154052734375
                    },
                    "rotation": {
                        "roll": 0.0002837277133949101,
                        "pitch": -1.8927887678146362,
                        "yaw": 178.71884155273438
                    }
                },
                "velocity": {
                    "x": -15.649185180664062,
                    "y": 0.349994957447052,
                    "z": -0.5175601243972778
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1319.395263671875,
                        "y": 3081.362060546875,
                        "z": 345.9192810058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1292.9942626953125,
                        "y": 3080.31640625,
                        "z": 346.70574951171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1249.3203125,
                        "y": 3079.315185546875,
                        "z": 348.56439208984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1211.929931640625,
                        "y": 3078.48046875,
                        "z": 350.4880065917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449676513671875,
                "transform": {
                    "location": {
                        "x": -1130.818359375,
                        "y": 3076.66845703125,
                        "z": 354.0360412597656
                    },
                    "rotation": {
                        "roll": -0.0024108875077217817,
                        "pitch": -2.120083808898926,
                        "yaw": 178.7257080078125
                    }
                },
                "velocity": {
                    "x": -16.434690475463867,
                    "y": 0.36613041162490845,
                    "z": -0.5989764332771301
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9990537166595459,
        "expert_target_speed": 0,
        "target_point": [
            46.44047302163712,
            -4.978757910909229
        ],
        "target_point_next": [
            97.42383584657176,
            -6.282460414787639
        ]
    },
    "200": {
        "acceleration": [
            -1.3864517211914062,
            3.373581886291504,
            -0.04836440086364746
        ],
        "angular_velocity": [
            2.973877191543579,
            -0.19303542375564575,
            -9.153470993041992
        ],
        "forward_vector": [
            -0.9988724589347839,
            0.03399795666337013,
            -0.03313471004366875
        ],
        "right_vector": [
            -0.03369661420583725,
            -0.9993858337402344,
            -0.009610981680452824
        ],
        "location": [
            -1148.97265625,
            3073.170654296875,
            353.37640380859375
        ],
        "rotation": [
            0.5509796738624573,
            -1.8988265991210938,
            178.0506134033203
        ],
        "velocity": [
            -26.494943618774414,
            0.5077419281005859,
            -0.9656252264976501
        ],
        "speed": 26.499808286619476,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.9059367179870605,
                "transform": {
                    "location": {
                        "x": -1205.456787109375,
                        "y": 3106.34326171875,
                        "z": 350.8186950683594
                    },
                    "rotation": {
                        "roll": -0.0016174328047782183,
                        "pitch": 3.1063766479492188,
                        "yaw": -1.2186279296875
                    }
                },
                "velocity": {
                    "x": 6.900970935821533,
                    "y": -0.113776296377182,
                    "z": 0.23582665622234344
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.673272609710693,
                "transform": {
                    "location": {
                        "x": -1205.552734375,
                        "y": 3102.84765625,
                        "z": 350.8211364746094
                    },
                    "rotation": {
                        "roll": 0.027908433228731155,
                        "pitch": 3.306405544281006,
                        "yaw": -1.117431640625
                    }
                },
                "velocity": {
                    "x": 6.6677775382995605,
                    "y": -0.06876877695322037,
                    "z": 0.261873722076416
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.6331634521484375,
                "transform": {
                    "location": {
                        "x": -1205.6922607421875,
                        "y": 3099.349609375,
                        "z": 350.8115539550781
                    },
                    "rotation": {
                        "roll": 0.004929823335260153,
                        "pitch": 3.1251938343048096,
                        "yaw": -1.1199951171875
                    }
                },
                "velocity": {
                    "x": 6.628105163574219,
                    "y": -0.09174171090126038,
                    "z": 0.2422112375497818
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.88485860824585,
                "transform": {
                    "location": {
                        "x": -1205.840576171875,
                        "y": 3095.858154296875,
                        "z": 350.8123779296875
                    },
                    "rotation": {
                        "roll": -0.014434817247092724,
                        "pitch": 3.0050714015960693,
                        "yaw": -0.941741943359375
                    }
                },
                "velocity": {
                    "x": 6.877821922302246,
                    "y": -0.08550892770290375,
                    "z": 0.2992168068885803
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1064.0076904296875,
                        "y": 3075.17626953125,
                        "z": 356.0826416015625
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.107077598571777,
                "transform": {
                    "location": {
                        "x": -1155.806884765625,
                        "y": 3094.812744140625,
                        "z": 353.1156311035156
                    },
                    "rotation": {
                        "roll": 0.01584816165268421,
                        "pitch": 2.1354994773864746,
                        "yaw": -1.0633544921875
                    }
                },
                "velocity": {
                    "x": 8.100177764892578,
                    "y": -0.15316125750541687,
                    "z": 0.2972734272480011
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.427707195281982,
                "transform": {
                    "location": {
                        "x": -1159.5948486328125,
                        "y": 3098.3720703125,
                        "z": 352.9706115722656
                    },
                    "rotation": {
                        "roll": 0.018616676330566406,
                        "pitch": 2.229475975036621,
                        "yaw": -0.7875977754592896
                    }
                },
                "velocity": {
                    "x": 5.423384666442871,
                    "y": -0.07387056946754456,
                    "z": 0.20358555018901825
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.805669784545898,
                "transform": {
                    "location": {
                        "x": -1160.2689208984375,
                        "y": 3101.889404296875,
                        "z": 352.9770202636719
                    },
                    "rotation": {
                        "roll": 0.02057412452995777,
                        "pitch": 2.2046210765838623,
                        "yaw": -0.7398682236671448
                    }
                },
                "velocity": {
                    "x": 5.800961971282959,
                    "y": -0.0862191841006279,
                    "z": 0.2172742635011673
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.7114176750183105,
                "transform": {
                    "location": {
                        "x": -1156.7989501953125,
                        "y": 3105.32763671875,
                        "z": 353.07452392578125
                    },
                    "rotation": {
                        "roll": 0.00863109715282917,
                        "pitch": 1.9537004232406616,
                        "yaw": -0.9896544218063354
                    }
                },
                "velocity": {
                    "x": 7.7048869132995605,
                    "y": -0.14266245067119598,
                    "z": 0.28342369198799133
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.83732795715332,
                "transform": {
                    "location": {
                        "x": -1138.4815673828125,
                        "y": 3094.438720703125,
                        "z": 353.74114990234375
                    },
                    "rotation": {
                        "roll": 0.0033900125417858362,
                        "pitch": 2.0994770526885986,
                        "yaw": -1.206329345703125
                    }
                },
                "velocity": {
                    "x": 8.829469680786133,
                    "y": -0.18791228532791138,
                    "z": 0.3217531442642212
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.972350597381592,
                "transform": {
                    "location": {
                        "x": -1142.5555419921875,
                        "y": 3098.021240234375,
                        "z": 353.5971374511719
                    },
                    "rotation": {
                        "roll": 0.014228922314941883,
                        "pitch": 2.3457190990448,
                        "yaw": -1.24786376953125
                    }
                },
                "velocity": {
                    "x": 7.965430736541748,
                    "y": -0.16097307205200195,
                    "z": 0.2904758155345917
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.2098970413208,
                "transform": {
                    "location": {
                        "x": -1141.33935546875,
                        "y": 3101.49462890625,
                        "z": 353.63787841796875
                    },
                    "rotation": {
                        "roll": 0.016581609845161438,
                        "pitch": 2.4447226524353027,
                        "yaw": -1.0476988554000854
                    }
                },
                "velocity": {
                    "x": 9.201995849609375,
                    "y": -0.18080534040927887,
                    "z": 0.3358301520347595
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.282798767089844,
                "transform": {
                    "location": {
                        "x": -1139.641845703125,
                        "y": 3104.9599609375,
                        "z": 353.72802734375
                    },
                    "rotation": {
                        "roll": 0.007524117361754179,
                        "pitch": 2.2850191593170166,
                        "yaw": -1.0670777559280396
                    }
                },
                "velocity": {
                    "x": 8.275656700134277,
                    "y": -0.16396264731884003,
                    "z": 0.3022761344909668
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.664363861083984,
                "transform": {
                    "location": {
                        "x": -1103.7904052734375,
                        "y": 3076.06494140625,
                        "z": 355.0227966308594
                    },
                    "rotation": {
                        "roll": -0.0005187968490645289,
                        "pitch": -1.9523274898529053,
                        "yaw": 178.71670532226562
                    }
                },
                "velocity": {
                    "x": -15.65100383758545,
                    "y": 0.35069841146469116,
                    "z": -0.5434821844100952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1323.638427734375,
                        "y": 3081.58544921875,
                        "z": 345.83599853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1297.2386474609375,
                        "y": 3080.4453125,
                        "z": 346.56170654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1253.562255859375,
                        "y": 3079.409912109375,
                        "z": 348.3581848144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.69327163696289,
                "transform": {
                    "location": {
                        "x": -1216.0867919921875,
                        "y": 3078.57373046875,
                        "z": 350.2872314453125
                    },
                    "rotation": {
                        "roll": 0.0001566400460433215,
                        "pitch": -3.123656988143921,
                        "yaw": 178.71835327148438
                    }
                },
                "velocity": {
                    "x": -16.66831398010254,
                    "y": 0.37301602959632874,
                    "z": -0.8327819108963013
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449657440185547,
                "transform": {
                    "location": {
                        "x": -1134.927001953125,
                        "y": 3076.76025390625,
                        "z": 353.88623046875
                    },
                    "rotation": {
                        "roll": -0.0008544930606149137,
                        "pitch": -2.119168519973755,
                        "yaw": 178.7238006591797
                    }
                },
                "velocity": {
                    "x": -16.43461799621582,
                    "y": 0.3677855134010315,
                    "z": -0.5994141101837158
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9983865022659302,
        "expert_target_speed": 0,
        "target_point": [
            40.01915181255422,
            -3.4348765034975646
        ],
        "target_point_next": [
            91.01569908946394,
            -2.8389813856619854
        ]
    },
    "205": {
        "acceleration": [
            -1.0757827758789062,
            4.215290546417236,
            -0.03755688667297363
        ],
        "angular_velocity": [
            2.084510326385498,
            -0.234393909573555,
            -9.614864349365234
        ],
        "forward_vector": [
            -0.9965819120407104,
            0.07547906786203384,
            -0.033576492220163345
        ],
        "right_vector": [
            -0.07481247931718826,
            -0.9969830513000488,
            -0.020686760544776917
        ],
        "location": [
            -1155.634521484375,
            3073.417724609375,
            353.133544921875
        ],
        "rotation": [
            1.1860175132751465,
            -1.9241529703140259,
            175.66880798339844
        ],
        "velocity": [
            -26.78258514404297,
            1.4906561374664307,
            -0.9773719310760498
        ],
        "speed": 26.824036286846866,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.6566162109375,
                        "y": 3074.721435546875,
                        "z": 356.4442443847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.53407621383667,
                "transform": {
                    "location": {
                        "x": -1203.7806396484375,
                        "y": 3106.319091796875,
                        "z": 350.89422607421875
                    },
                    "rotation": {
                        "roll": 0.022460591048002243,
                        "pitch": 3.140561819076538,
                        "yaw": -0.7818908095359802
                    }
                },
                "velocity": {
                    "x": 6.524658203125,
                    "y": -0.07236848771572113,
                    "z": 0.34314659237861633
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.448458671569824,
                "transform": {
                    "location": {
                        "x": -1203.916259765625,
                        "y": 3102.830810546875,
                        "z": 350.901123046875
                    },
                    "rotation": {
                        "roll": 0.03201281651854515,
                        "pitch": 3.1801631450653076,
                        "yaw": -0.716888427734375
                    }
                },
                "velocity": {
                    "x": 6.438745021820068,
                    "y": -0.07931271195411682,
                    "z": 0.3448108732700348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.719799995422363,
                "transform": {
                    "location": {
                        "x": -1204.024169921875,
                        "y": 3099.328369140625,
                        "z": 350.8907775878906
                    },
                    "rotation": {
                        "roll": 0.030923502519726753,
                        "pitch": 3.147576332092285,
                        "yaw": -0.6982421278953552
                    }
                },
                "velocity": {
                    "x": 6.709760665893555,
                    "y": -0.07346346229314804,
                    "z": 0.3597564697265625
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.528249740600586,
                "transform": {
                    "location": {
                        "x": -1204.1669921875,
                        "y": 3095.840576171875,
                        "z": 350.8951416015625
                    },
                    "rotation": {
                        "roll": 0.015231214463710785,
                        "pitch": 3.1109392642974854,
                        "yaw": -0.639312744140625
                    }
                },
                "velocity": {
                    "x": 6.518921375274658,
                    "y": -0.05943690240383148,
                    "z": 0.3437737822532654
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1067.921875,
                        "y": 3075.263427734375,
                        "z": 356.0051574707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.72420883178711,
                "transform": {
                    "location": {
                        "x": -1153.7239990234375,
                        "y": 3094.772705078125,
                        "z": 353.19146728515625
                    },
                    "rotation": {
                        "roll": 0.014673994854092598,
                        "pitch": 2.2080702781677246,
                        "yaw": -1.1087646484375
                    }
                },
                "velocity": {
                    "x": 8.716705322265625,
                    "y": -0.17429466545581818,
                    "z": 0.317013144493103
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.318493366241455,
                "transform": {
                    "location": {
                        "x": -1157.9886474609375,
                        "y": 3098.34619140625,
                        "z": 353.03070068359375
                    },
                    "rotation": {
                        "roll": 0.020886320620775223,
                        "pitch": 2.386932373046875,
                        "yaw": -0.928802490234375
                    }
                },
                "velocity": {
                    "x": 7.312419414520264,
                    "y": -0.12534146010875702,
                    "z": 0.270483136177063
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.091827392578125,
                "transform": {
                    "location": {
                        "x": -1158.454833984375,
                        "y": 3101.861572265625,
                        "z": 353.0436706542969
                    },
                    "rotation": {
                        "roll": 0.02341522090137005,
                        "pitch": 2.3510875701904297,
                        "yaw": -0.892608642578125
                    }
                },
                "velocity": {
                    "x": 8.085000038146973,
                    "y": -0.14625538885593414,
                    "z": 0.29842519760131836
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.564367294311523,
                "transform": {
                    "location": {
                        "x": -1154.753662109375,
                        "y": 3105.290283203125,
                        "z": 353.14935302734375
                    },
                    "rotation": {
                        "roll": 0.007145717274397612,
                        "pitch": 1.965270757675171,
                        "yaw": -1.045013189315796
                    }
                },
                "velocity": {
                    "x": 8.55717945098877,
                    "y": -0.15930823981761932,
                    "z": 0.31254926323890686
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.52457332611084,
                "transform": {
                    "location": {
                        "x": -1136.1873779296875,
                        "y": 3094.3896484375,
                        "z": 353.8247985839844
                    },
                    "rotation": {
                        "roll": 0.001784421387128532,
                        "pitch": 2.104374408721924,
                        "yaw": -1.2302855253219604
                    }
                },
                "velocity": {
                    "x": 9.516047477722168,
                    "y": -0.20437254011631012,
                    "z": 0.3472183048725128
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.441917419433594,
                "transform": {
                    "location": {
                        "x": -1140.358154296875,
                        "y": 3097.975830078125,
                        "z": 353.6763610839844
                    },
                    "rotation": {
                        "roll": 0.004333138465881348,
                        "pitch": 2.453765869140625,
                        "yaw": -1.2152099609375
                    }
                },
                "velocity": {
                    "x": 9.433610916137695,
                    "y": -0.19523853063583374,
                    "z": 0.3444996476173401
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.939616203308105,
                "transform": {
                    "location": {
                        "x": -1138.9588623046875,
                        "y": 3101.44775390625,
                        "z": 353.72589111328125
                    },
                    "rotation": {
                        "roll": 0.009483740665018559,
                        "pitch": 2.295558214187622,
                        "yaw": -1.08868408203125
                    }
                },
                "velocity": {
                    "x": 9.93102741241455,
                    "y": -0.1982513815164566,
                    "z": 0.3624301850795746
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.66694164276123,
                "transform": {
                    "location": {
                        "x": -1137.3902587890625,
                        "y": 3104.9150390625,
                        "z": 353.8103942871094
                    },
                    "rotation": {
                        "roll": 0.006680483464151621,
                        "pitch": 2.261366128921509,
                        "yaw": -1.1673582792282104
                    }
                },
                "velocity": {
                    "x": 9.658418655395508,
                    "y": -0.20152296125888824,
                    "z": 0.35228675603866577
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.664782524108887,
                "transform": {
                    "location": {
                        "x": -1107.702880859375,
                        "y": 3076.15234375,
                        "z": 354.88543701171875
                    },
                    "rotation": {
                        "roll": -0.00021362214465625584,
                        "pitch": -2.0274322032928467,
                        "yaw": 178.71826171875
                    }
                },
                "velocity": {
                    "x": -15.650949478149414,
                    "y": 0.35013511776924133,
                    "z": -0.5573018789291382
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3770,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1327.881103515625,
                        "y": 3081.823974609375,
                        "z": 345.7656555175781
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.482177734375,
                        "y": 3080.588623046875,
                        "z": 346.4206237792969
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1257.80419921875,
                        "y": 3079.5048828125,
                        "z": 348.1541748046875
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.78254508972168,
                "transform": {
                    "location": {
                        "x": -1220.265869140625,
                        "y": 3078.667236328125,
                        "z": 350.0711669921875
                    },
                    "rotation": {
                        "roll": -0.0009460464934818447,
                        "pitch": -3.022399425506592,
                        "yaw": 178.72445678710938
                    }
                },
                "velocity": {
                    "x": -16.755653381347656,
                    "y": 0.37333256006240845,
                    "z": -0.8732249736785889
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449703216552734,
                "transform": {
                    "location": {
                        "x": -1139.03564453125,
                        "y": 3076.85205078125,
                        "z": 353.73638916015625
                    },
                    "rotation": {
                        "roll": -0.0007629402680322528,
                        "pitch": -2.1198105812072754,
                        "yaw": 178.72409057617188
                    }
                },
                "velocity": {
                    "x": -16.434682846069336,
                    "y": 0.36625468730926514,
                    "z": -0.5998034477233887
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0009227991104126,
        "expert_target_speed": 0,
        "target_point": [
            33.46582662043834,
            -2.0255306073779686
        ],
        "target_point_next": [
            84.39355283771127,
            0.6891751770558656
        ]
    },
    "210": {
        "acceleration": [
            -0.969696044921875,
            4.575285911560059,
            -0.15853404998779297
        ],
        "angular_velocity": [
            1.4090487957000732,
            -0.2488265037536621,
            -9.787549018859863
        ],
        "forward_vector": [
            -0.9924355149269104,
            0.11771678179502487,
            -0.034849852323532104
        ],
        "right_vector": [
            -0.11676766723394394,
            -0.9927608370780945,
            -0.02812725305557251
        ],
        "location": [
            -1162.3631591796875,
            3073.927001953125,
            352.8845520019531
        ],
        "rotation": [
            1.6127653121948242,
            -1.9971539974212646,
            173.2355194091797
        ],
        "velocity": [
            -27.03733253479004,
            2.6005728244781494,
            -1.0197606086730957
        ],
        "speed": 27.16211202414551,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1047.5709228515625,
                        "y": 3074.80859375,
                        "z": 356.37030029296875
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.612502098083496,
                "transform": {
                    "location": {
                        "x": -1202.139404296875,
                        "y": 3106.2978515625,
                        "z": 350.9836730957031
                    },
                    "rotation": {
                        "roll": 0.035396918654441833,
                        "pitch": 3.1436285972595215,
                        "yaw": -0.6273801922798157
                    }
                },
                "velocity": {
                    "x": 6.602142810821533,
                    "y": -0.08333011716604233,
                    "z": 0.3604865074157715
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.382868766784668,
                "transform": {
                    "location": {
                        "x": -1202.3154296875,
                        "y": 3102.80908203125,
                        "z": 350.98919677734375
                    },
                    "rotation": {
                        "roll": 0.024518990889191628,
                        "pitch": 3.1518452167510986,
                        "yaw": -0.7684020400047302
                    }
                },
                "velocity": {
                    "x": 6.372602939605713,
                    "y": -0.0916011855006218,
                    "z": 0.3500727713108063
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.340358257293701,
                "transform": {
                    "location": {
                        "x": -1202.3961181640625,
                        "y": 3099.308349609375,
                        "z": 350.98016357421875
                    },
                    "rotation": {
                        "roll": 0.033232685178518295,
                        "pitch": 3.146012306213379,
                        "yaw": -0.6925963759422302
                    }
                },
                "velocity": {
                    "x": 6.330272197723389,
                    "y": -0.0839587077498436,
                    "z": 0.34748953580856323
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.537962913513184,
                "transform": {
                    "location": {
                        "x": -1202.6312255859375,
                        "y": 3095.820556640625,
                        "z": 350.97796630859375
                    },
                    "rotation": {
                        "roll": 0.03589717298746109,
                        "pitch": 2.9782423973083496,
                        "yaw": -0.7380675673484802
                    }
                },
                "velocity": {
                    "x": 5.5292863845825195,
                    "y": -0.07833661139011383,
                    "z": 0.2998191714286804
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.8360595703125,
                        "y": 3075.350830078125,
                        "z": 355.92205810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.601958274841309,
                "transform": {
                    "location": {
                        "x": -1151.4591064453125,
                        "y": 3094.72607421875,
                        "z": 353.2740173339844
                    },
                    "rotation": {
                        "roll": 0.01050147321075201,
                        "pitch": 2.263831853866577,
                        "yaw": -1.182677984237671
                    }
                },
                "velocity": {
                    "x": 9.593502044677734,
                    "y": -0.2002096325159073,
                    "z": 0.34963691234588623
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.409981727600098,
                "transform": {
                    "location": {
                        "x": -1156.024169921875,
                        "y": 3098.3115234375,
                        "z": 353.1033935546875
                    },
                    "rotation": {
                        "roll": 0.014785051345825195,
                        "pitch": 2.2931129932403564,
                        "yaw": -1.014801025390625
                    }
                },
                "velocity": {
                    "x": 8.402925491333008,
                    "y": -0.1517263799905777,
                    "z": 0.30922815203666687
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.419853210449219,
                "transform": {
                    "location": {
                        "x": -1156.265625,
                        "y": 3101.822021484375,
                        "z": 353.12506103515625
                    },
                    "rotation": {
                        "roll": 0.01400088518857956,
                        "pitch": 2.258927822113037,
                        "yaw": -1.0479429960250854
                    }
                },
                "velocity": {
                    "x": 9.41176986694336,
                    "y": -0.1793942153453827,
                    "z": 0.3464590311050415
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.424836158752441,
                "transform": {
                    "location": {
                        "x": -1152.5020751953125,
                        "y": 3105.246826171875,
                        "z": 353.23114013671875
                    },
                    "rotation": {
                        "roll": 0.0024788095615804195,
                        "pitch": 1.9924548864364624,
                        "yaw": -1.11541748046875
                    }
                },
                "velocity": {
                    "x": 9.416595458984375,
                    "y": -0.19312036037445068,
                    "z": 0.3434857726097107
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.240796089172363,
                "transform": {
                    "location": {
                        "x": -1133.716796875,
                        "y": 3094.33642578125,
                        "z": 353.9148864746094
                    },
                    "rotation": {
                        "roll": 0.001692956662736833,
                        "pitch": 2.1066555976867676,
                        "yaw": -1.244720220565796
                    }
                },
                "velocity": {
                    "x": 10.231596946716309,
                    "y": -0.22227008640766144,
                    "z": 0.3727244436740875
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.102834701538086,
                "transform": {
                    "location": {
                        "x": -1137.9564208984375,
                        "y": 3097.92578125,
                        "z": 353.76531982421875
                    },
                    "rotation": {
                        "roll": 0.0033469730988144875,
                        "pitch": 2.2909750938415527,
                        "yaw": -1.1871337890625
                    }
                },
                "velocity": {
                    "x": 10.093932151794434,
                    "y": -0.21100765466690063,
                    "z": 0.36781203746795654
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.858510971069336,
                "transform": {
                    "location": {
                        "x": -1136.351806640625,
                        "y": 3101.394287109375,
                        "z": 353.82080078125
                    },
                    "rotation": {
                        "roll": 0.013238711282610893,
                        "pitch": 2.3053526878356934,
                        "yaw": -1.1750792264938354
                    }
                },
                "velocity": {
                    "x": 10.848856925964355,
                    "y": -0.23003867268562317,
                    "z": 0.3957977294921875
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.636228561401367,
                "transform": {
                    "location": {
                        "x": -1134.8878173828125,
                        "y": 3104.862548828125,
                        "z": 353.9019470214844
                    },
                    "rotation": {
                        "roll": 0.005271146073937416,
                        "pitch": 2.2177417278289795,
                        "yaw": -1.1985780000686646
                    }
                },
                "velocity": {
                    "x": 10.626737594604492,
                    "y": -0.2280760258436203,
                    "z": 0.38702818751335144
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.665902137756348,
                "transform": {
                    "location": {
                        "x": -1111.6153564453125,
                        "y": 3076.239501953125,
                        "z": 354.7447204589844
                    },
                    "rotation": {
                        "roll": 1.6686333426108035e-09,
                        "pitch": -2.086977958679199,
                        "yaw": 178.7181396484375
                    }
                },
                "velocity": {
                    "x": -15.651602745056152,
                    "y": 0.3502156734466553,
                    "z": -0.5702372789382935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1305.7255859375,
                        "y": 3080.74609375,
                        "z": 346.2809753417969
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1262.0462646484375,
                        "y": 3079.599853515625,
                        "z": 347.95526123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.8699951171875,
                "transform": {
                    "location": {
                        "x": -1224.4661865234375,
                        "y": 3078.760986328125,
                        "z": 349.8518981933594
                    },
                    "rotation": {
                        "roll": -0.00039672822458669543,
                        "pitch": -3.0097978115081787,
                        "yaw": 178.7189483642578
                    }
                },
                "velocity": {
                    "x": -16.842723846435547,
                    "y": 0.3754793405532837,
                    "z": -0.8822678923606873
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449724197387695,
                "transform": {
                    "location": {
                        "x": -1143.1444091796875,
                        "y": 3076.944091796875,
                        "z": 353.58660888671875
                    },
                    "rotation": {
                        "roll": 0.0005077809910289943,
                        "pitch": -2.1201725006103516,
                        "yaw": 178.71421813964844
                    }
                },
                "velocity": {
                    "x": -16.43466567993164,
                    "y": 0.3683447241783142,
                    "z": -0.5995829701423645
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9980306625366211,
        "expert_target_speed": 0,
        "target_point": [
            26.779862982957376,
            -0.8896905644381952
        ],
        "target_point_next": [
            77.54641276623099,
            3.9847682014094294
        ]
    },
    "215": {
        "acceleration": [
            -0.5088424682617188,
            4.383649826049805,
            -0.5063819885253906
        ],
        "angular_velocity": [
            0.5586800575256348,
            -1.0061053037643433,
            -8.905546188354492
        ],
        "forward_vector": [
            -0.9865402579307556,
            0.1590828001499176,
            -0.037827521562576294
        ],
        "right_vector": [
            -0.1578819900751114,
            -0.9869106411933899,
            -0.032874710857868195
        ],
        "location": [
            -1169.148193359375,
            3074.71826171875,
            352.6174011230469
        ],
        "rotation": [
            1.885271668434143,
            -2.167874574661255,
            170.8397216796875
        ],
        "velocity": [
            -27.22286605834961,
            3.734786033630371,
            -1.119057297706604
        ],
        "speed": 27.47786496705746,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1241.8284912109375,
                        "y": 3107.154541015625,
                        "z": 349.1324462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1241.9066162109375,
                        "y": 3103.65576171875,
                        "z": 349.1324462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1241.9847412109375,
                        "y": 3100.15673828125,
                        "z": 349.1324462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.0628662109375,
                        "y": 3096.65771484375,
                        "z": 349.1324462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1051.492431640625,
                        "y": 3074.896484375,
                        "z": 356.3089294433594
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.0251874923706055,
                "transform": {
                    "location": {
                        "x": -1200.549072265625,
                        "y": 3106.27783203125,
                        "z": 351.07061767578125
                    },
                    "rotation": {
                        "roll": 0.03406177833676338,
                        "pitch": 3.096848487854004,
                        "yaw": -0.6670836210250854
                    }
                },
                "velocity": {
                    "x": 6.015782356262207,
                    "y": -0.07786176353693008,
                    "z": 0.32739126682281494
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.9011688232421875,
                "transform": {
                    "location": {
                        "x": -1200.7628173828125,
                        "y": 3102.786865234375,
                        "z": 351.07373046875
                    },
                    "rotation": {
                        "roll": 0.023733967915177345,
                        "pitch": 3.1345579624176025,
                        "yaw": -0.806060791015625
                    }
                },
                "velocity": {
                    "x": 5.891907215118408,
                    "y": -0.08499642461538315,
                    "z": 0.31937363743782043
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.826960563659668,
                "transform": {
                    "location": {
                        "x": -1200.7666015625,
                        "y": 3099.286376953125,
                        "z": 351.0691223144531
                    },
                    "rotation": {
                        "roll": 0.027690919116139412,
                        "pitch": 3.1154472827911377,
                        "yaw": -0.7679137587547302
                    }
                },
                "velocity": {
                    "x": 6.81626033782959,
                    "y": -0.09627220779657364,
                    "z": 0.36974823474884033
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.464609146118164,
                "transform": {
                    "location": {
                        "x": -1201.285888671875,
                        "y": 3095.800537109375,
                        "z": 351.05096435546875
                    },
                    "rotation": {
                        "roll": 0.03133382275700569,
                        "pitch": 3.078933000564575,
                        "yaw": -0.8140867948532104
                    }
                },
                "velocity": {
                    "x": 5.45591402053833,
                    "y": -0.08117816597223282,
                    "z": 0.2972606122493744
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.7606201171875,
                        "y": 3075.4384765625,
                        "z": 355.83160400390625
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.53940200805664,
                "transform": {
                    "location": {
                        "x": -1148.9013671875,
                        "y": 3094.67236328125,
                        "z": 353.3672180175781
                    },
                    "rotation": {
                        "roll": 0.007502344436943531,
                        "pitch": 2.2974910736083984,
                        "yaw": -1.2146910429000854
                    }
                },
                "velocity": {
                    "x": 10.530003547668457,
                    "y": -0.2254067361354828,
                    "z": 0.3836900293827057
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.59390640258789,
                "transform": {
                    "location": {
                        "x": -1153.7694091796875,
                        "y": 3098.27001953125,
                        "z": 353.185546875
                    },
                    "rotation": {
                        "roll": 0.014676948077976704,
                        "pitch": 2.2909750938415527,
                        "yaw": -1.064178466796875
                    }
                },
                "velocity": {
                    "x": 9.585805892944336,
                    "y": -0.1837538629770279,
                    "z": 0.348721444606781
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.420525550842285,
                "transform": {
                    "location": {
                        "x": -1153.8223876953125,
                        "y": 3101.77587890625,
                        "z": 353.2145690917969
                    },
                    "rotation": {
                        "roll": 0.009947458282113075,
                        "pitch": 2.216963052749634,
                        "yaw": -1.094482421875
                    }
                },
                "velocity": {
                    "x": 10.411691665649414,
                    "y": -0.20008023083209991,
                    "z": 0.3794689178466797
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.1813325881958,
                "transform": {
                    "location": {
                        "x": -1150.0499267578125,
                        "y": 3105.19677734375,
                        "z": 353.3204650878906
                    },
                    "rotation": {
                        "roll": 0.0030713968444615602,
                        "pitch": 1.9971472024917603,
                        "yaw": -1.171234130859375
                    }
                },
                "velocity": {
                    "x": 10.172417640686035,
                    "y": -0.20994876325130463,
                    "z": 0.3706391155719757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.061999320983887,
                "transform": {
                    "location": {
                        "x": -1131.05322265625,
                        "y": 3094.278076171875,
                        "z": 354.0119323730469
                    },
                    "rotation": {
                        "roll": 0.0017008703434839845,
                        "pitch": 2.109039306640625,
                        "yaw": -1.260864019393921
                    }
                },
                "velocity": {
                    "x": 11.051942825317383,
                    "y": -0.24490882456302643,
                    "z": 0.4030083417892456
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.016095161437988,
                "transform": {
                    "location": {
                        "x": -1135.309814453125,
                        "y": 3097.86962890625,
                        "z": 353.86163330078125
                    },
                    "rotation": {
                        "roll": 0.00647148210555315,
                        "pitch": 2.3119096755981445,
                        "yaw": -1.2243348360061646
                    }
                },
                "velocity": {
                    "x": 11.006243705749512,
                    "y": -0.23690421879291534,
                    "z": 0.4010564982891083
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.650521278381348,
                "transform": {
                    "location": {
                        "x": -1133.5360107421875,
                        "y": 3101.334228515625,
                        "z": 353.923583984375
                    },
                    "rotation": {
                        "roll": 0.007219539489597082,
                        "pitch": 2.2950527667999268,
                        "yaw": -1.268768310546875
                    }
                },
                "velocity": {
                    "x": 11.639998435974121,
                    "y": -0.25510644912719727,
                    "z": 0.4242806136608124
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.904767990112305,
                "transform": {
                    "location": {
                        "x": -1132.05078125,
                        "y": 3104.80126953125,
                        "z": 354.0052185058594
                    },
                    "rotation": {
                        "roll": 0.0026599587872624397,
                        "pitch": 2.236572742462158,
                        "yaw": -1.250457763671875
                    }
                },
                "velocity": {
                    "x": 11.893986701965332,
                    "y": -0.2609942853450775,
                    "z": 0.43411391973495483
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.729204177856445,
                "transform": {
                    "location": {
                        "x": -1115.54052734375,
                        "y": 3076.327392578125,
                        "z": 354.6011962890625
                    },
                    "rotation": {
                        "roll": 0.0008206963539123535,
                        "pitch": -2.091519832611084,
                        "yaw": 178.7277069091797
                    }
                },
                "velocity": {
                    "x": -15.714852333068848,
                    "y": 0.34681937098503113,
                    "z": -0.5753143429756165
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1309.969970703125,
                        "y": 3080.920166015625,
                        "z": 346.1536560058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1266.288818359375,
                        "y": 3079.694580078125,
                        "z": 347.7625732421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.955764770507812,
                "transform": {
                    "location": {
                        "x": -1228.6883544921875,
                        "y": 3078.85498046875,
                        "z": 349.63116455078125
                    },
                    "rotation": {
                        "roll": 0.0007391062681563199,
                        "pitch": -2.9693288803100586,
                        "yaw": 178.72244262695312
                    }
                },
                "velocity": {
                    "x": -16.929126739501953,
                    "y": 0.3785364329814911,
                    "z": -0.8714061379432678
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449708938598633,
                "transform": {
                    "location": {
                        "x": -1147.2529296875,
                        "y": 3077.035888671875,
                        "z": 353.4367370605469
                    },
                    "rotation": {
                        "roll": 0.0034857552964240313,
                        "pitch": -2.119141101837158,
                        "yaw": 178.71646118164062
                    }
                },
                "velocity": {
                    "x": -16.434646606445312,
                    "y": 0.36965709924697876,
                    "z": -0.5988761782646179
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.000496745109558,
        "expert_target_speed": 0,
        "target_point": [
            19.969175960908256,
            -0.06843000051530224
        ],
        "target_point_next": [
            70.48758497055516,
            6.923942722071234
        ]
    },
    "220": {
        "acceleration": [
            -0.9027099609375,
            2.5273990631103516,
            -0.28023481369018555
        ],
        "angular_velocity": [
            -1.7238500118255615,
            -0.8626018166542053,
            -1.6620012521743774
        ],
        "forward_vector": [
            -0.9821872711181641,
            0.1833052784204483,
            -0.04131881147623062
        ],
        "right_vector": [
            -0.1821090579032898,
            -0.9827865958213806,
            -0.031094223260879517
        ],
        "location": [
            -1175.9708251953125,
            3075.765869140625,
            352.32708740234375
        ],
        "rotation": [
            1.7833784818649292,
            -2.368067502975464,
            169.42852783203125
        ],
        "velocity": [
            -27.38364028930664,
            4.585458755493164,
            -1.207038164138794
        ],
        "speed": 27.764909282986444,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.7469482421875,
                        "y": 3107.108642578125,
                        "z": 349.0494079589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.8250732421875,
                        "y": 3103.609619140625,
                        "z": 349.0494079589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.9031982421875,
                        "y": 3100.110595703125,
                        "z": 349.0494079589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.87160062789917,
                "transform": {
                    "location": {
                        "x": -1240.0240478515625,
                        "y": 3096.61279296875,
                        "z": 349.0486755371094
                    },
                    "rotation": {
                        "roll": -0.004821775946766138,
                        "pitch": 2.737457752227783,
                        "yaw": -1.265228271484375
                    }
                },
                "velocity": {
                    "x": 6.861422538757324,
                    "y": -0.13540299236774445,
                    "z": -0.3484848737716675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1055.4215087890625,
                        "y": 3074.98388671875,
                        "z": 356.2425231933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.780236721038818,
                "transform": {
                    "location": {
                        "x": -1199.1033935546875,
                        "y": 3106.25927734375,
                        "z": 351.149169921875
                    },
                    "rotation": {
                        "roll": 0.02881864830851555,
                        "pitch": 3.070729970932007,
                        "yaw": -0.7292174100875854
                    }
                },
                "velocity": {
                    "x": 5.771312713623047,
                    "y": -0.07679591327905655,
                    "z": 0.31174588203430176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.801365375518799,
                "transform": {
                    "location": {
                        "x": -1199.330810546875,
                        "y": 3102.76611328125,
                        "z": 351.1517028808594
                    },
                    "rotation": {
                        "roll": 0.0250368881970644,
                        "pitch": 3.0927162170410156,
                        "yaw": -0.82073974609375
                    }
                },
                "velocity": {
                    "x": 5.792325973510742,
                    "y": -0.08303271234035492,
                    "z": 0.3129003643989563
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.031124114990234,
                "transform": {
                    "location": {
                        "x": -1198.915283203125,
                        "y": 3099.26025390625,
                        "z": 351.1694030761719
                    },
                    "rotation": {
                        "roll": 0.025188997387886047,
                        "pitch": 3.108254909515381,
                        "yaw": -0.8330076932907104
                    }
                },
                "velocity": {
                    "x": 8.018465042114258,
                    "y": -0.1275787502527237,
                    "z": 0.43231117725372314
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.859094619750977,
                "transform": {
                    "location": {
                        "x": -1199.832275390625,
                        "y": 3095.778564453125,
                        "z": 351.1302185058594
                    },
                    "rotation": {
                        "roll": 0.026378769427537918,
                        "pitch": 3.339545726776123,
                        "yaw": -0.8563842177391052
                    }
                },
                "velocity": {
                    "x": 6.848124027252197,
                    "y": -0.10447137802839279,
                    "z": 0.37344780564308167
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1079.688720703125,
                        "y": 3075.52587890625,
                        "z": 355.7353820800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.950374603271484,
                "transform": {
                    "location": {
                        "x": -1146.2315673828125,
                        "y": 3094.614501953125,
                        "z": 353.4645690917969
                    },
                    "rotation": {
                        "roll": 0.004445157013833523,
                        "pitch": 2.220726490020752,
                        "yaw": -1.245361328125
                    }
                },
                "velocity": {
                    "x": 10.940508842468262,
                    "y": -0.23860572278499603,
                    "z": 0.39879462122917175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.787343978881836,
                "transform": {
                    "location": {
                        "x": -1151.2186279296875,
                        "y": 3098.218994140625,
                        "z": 353.2784729003906
                    },
                    "rotation": {
                        "roll": 0.011589929461479187,
                        "pitch": 2.2937207221984863,
                        "yaw": -1.1553345918655396
                    }
                },
                "velocity": {
                    "x": 10.777950286865234,
                    "y": -0.21922463178634644,
                    "z": 0.3930867612361908
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.688901901245117,
                "transform": {
                    "location": {
                        "x": -1151.03759765625,
                        "y": 3101.71923828125,
                        "z": 353.3157653808594
                    },
                    "rotation": {
                        "roll": 0.008485249243676662,
                        "pitch": 2.23665452003479,
                        "yaw": -1.189849853515625
                    }
                },
                "velocity": {
                    "x": 11.678528785705566,
                    "y": -0.24650053679943085,
                    "z": 0.4261721074581146
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.99644947052002,
                "transform": {
                    "location": {
                        "x": -1147.3997802734375,
                        "y": 3105.14111328125,
                        "z": 353.41705322265625
                    },
                    "rotation": {
                        "roll": 0.0008310319972224534,
                        "pitch": 1.9982059001922607,
                        "yaw": -1.20947265625
                    }
                },
                "velocity": {
                    "x": 10.98659896850586,
                    "y": -0.2373281568288803,
                    "z": 0.4002680778503418
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.88240909576416,
                "transform": {
                    "location": {
                        "x": -1128.1846923828125,
                        "y": 3094.214599609375,
                        "z": 354.1165466308594
                    },
                    "rotation": {
                        "roll": -0.0007019073818810284,
                        "pitch": 2.109558343887329,
                        "yaw": -1.2774962186813354
                    }
                },
                "velocity": {
                    "x": 11.871563911437988,
                    "y": -0.2646911144256592,
                    "z": 0.4330497682094574
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.783140182495117,
                "transform": {
                    "location": {
                        "x": -1132.458251953125,
                        "y": 3097.808349609375,
                        "z": 353.9657287597656
                    },
                    "rotation": {
                        "roll": 0.0027752125170081854,
                        "pitch": 2.2932496070861816,
                        "yaw": -1.247467041015625
                    }
                },
                "velocity": {
                    "x": 11.77253532409668,
                    "y": -0.25536268949508667,
                    "z": 0.4296291172504425
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.43557071685791,
                "transform": {
                    "location": {
                        "x": -1130.5245361328125,
                        "y": 3101.267822265625,
                        "z": 354.0334777832031
                    },
                    "rotation": {
                        "roll": 0.0032140498515218496,
                        "pitch": 2.2864603996276855,
                        "yaw": -1.2778929471969604
                    }
                },
                "velocity": {
                    "x": 12.424220085144043,
                    "y": -0.27716735005378723,
                    "z": 0.45313751697540283
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.83525562286377,
                "transform": {
                    "location": {
                        "x": -1128.9547119140625,
                        "y": 3104.74169921875,
                        "z": 354.1184997558594
                    },
                    "rotation": {
                        "roll": -0.014770503155887127,
                        "pitch": 2.2179603576660156,
                        "yaw": -0.9628296494483948
                    }
                },
                "velocity": {
                    "x": 12.825414657592773,
                    "y": -0.17763656377792358,
                    "z": 0.4700881838798523
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.726346969604492,
                "transform": {
                    "location": {
                        "x": -1119.467529296875,
                        "y": 3076.4150390625,
                        "z": 354.4577331542969
                    },
                    "rotation": {
                        "roll": -0.0014038076624274254,
                        "pitch": -2.0829412937164307,
                        "yaw": 178.71730041503906
                    }
                },
                "velocity": {
                    "x": -15.711947441101074,
                    "y": 0.3540264070034027,
                    "z": -0.5721530914306641
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.2139892578125,
                        "y": 3081.1103515625,
                        "z": 346.0402526855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1270.5321044921875,
                        "y": 3079.78955078125,
                        "z": 347.57611083984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 17.028072357177734,
                "transform": {
                    "location": {
                        "x": -1232.9315185546875,
                        "y": 3078.949951171875,
                        "z": 349.4140625
                    },
                    "rotation": {
                        "roll": 0.0006649491260759532,
                        "pitch": -2.914393663406372,
                        "yaw": 178.71774291992188
                    }
                },
                "velocity": {
                    "x": -17.00184440612793,
                    "y": 0.3803213834762573,
                    "z": -0.8648022413253784
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449697494506836,
                "transform": {
                    "location": {
                        "x": -1151.361572265625,
                        "y": 3077.127685546875,
                        "z": 353.2869567871094
                    },
                    "rotation": {
                        "roll": -0.0004882806388195604,
                        "pitch": -2.119380235671997,
                        "yaw": 178.7210235595703
                    }
                },
                "velocity": {
                    "x": -16.43474006652832,
                    "y": 0.36500269174575806,
                    "z": -0.5988680124282837
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0000712871551514,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            13.0657784195163,
            0.20151084155194576
        ],
        "target_point_next": [
            63.39666366255033,
            8.435884880304783
        ]
    },
    "225": {
        "acceleration": [
            -1.7218780517578125,
            -1.6544151306152344,
            -0.4882168769836426
        ],
        "angular_velocity": [
            -4.8985595703125,
            0.3148404657840729,
            10.312688827514648
        ],
        "forward_vector": [
            -0.985639214515686,
            0.16294483840465546,
            -0.04432119429111481
        ],
        "right_vector": [
            -0.16236428916454315,
            -0.9865942001342773,
            -0.016421537846326828
        ],
        "location": [
            -1182.85791015625,
            3076.93408203125,
            352.0126953125
        ],
        "rotation": [
            0.9418526291847229,
            -2.5402495861053467,
            170.61282348632812
        ],
        "velocity": [
            -27.738834381103516,
            4.60809850692749,
            -1.3085851669311523
        ],
        "speed": 28.118988329451646,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 54.44060134887695,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1237.1846923828125,
                3079.044921875,
                349.1976623535156
            ],
            "velocity": [
                -17.017436981201172,
                0.3803061544895172,
                -0.8564722537994385
            ],
            "speed_kmh": 61.355591042444054,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.999048233032227,
                "transform": {
                    "location": {
                        "x": -1238.0499267578125,
                        "y": 3107.074951171875,
                        "z": 349.0595703125
                    },
                    "rotation": {
                        "roll": 0.0029825526289641857,
                        "pitch": 2.7969212532043457,
                        "yaw": -1.1521910429000854
                    }
                },
                "velocity": {
                    "x": 5.985745906829834,
                    "y": -0.09359574317932129,
                    "z": 0.3881559669971466
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.269513130187988,
                "transform": {
                    "location": {
                        "x": -1238.222412109375,
                        "y": 3103.581298828125,
                        "z": 349.06951904296875
                    },
                    "rotation": {
                        "roll": 0.010567020624876022,
                        "pitch": 2.8201780319213867,
                        "yaw": -1.0235899686813354
                    }
                },
                "velocity": {
                    "x": 6.259915828704834,
                    "y": -0.0866520032286644,
                    "z": 0.3357657492160797
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.572728157043457,
                "transform": {
                    "location": {
                        "x": -1238.240234375,
                        "y": 3100.08251953125,
                        "z": 349.0530700683594
                    },
                    "rotation": {
                        "roll": -0.014587397687137127,
                        "pitch": 2.5082502365112305,
                        "yaw": -1.005309820175171
                    }
                },
                "velocity": {
                    "x": 6.562289714813232,
                    "y": -0.09038885682821274,
                    "z": 0.35908132791519165
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.396506309509277,
                "transform": {
                    "location": {
                        "x": -1238.376953125,
                        "y": 3096.58740234375,
                        "z": 349.05657958984375
                    },
                    "rotation": {
                        "roll": -0.009033200331032276,
                        "pitch": 2.5863466262817383,
                        "yaw": -0.9136961102485657
                    }
                },
                "velocity": {
                    "x": 6.387606620788574,
                    "y": -0.08460965752601624,
                    "z": 0.32651832699775696
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1059.3475341796875,
                        "y": 3075.071533203125,
                        "z": 356.1709289550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.555985927581787,
                "transform": {
                    "location": {
                        "x": -1197.5797119140625,
                        "y": 3106.236572265625,
                        "z": 351.23089599609375
                    },
                    "rotation": {
                        "roll": 0.024304362013936043,
                        "pitch": 3.1090474128723145,
                        "yaw": -0.8768920302391052
                    }
                },
                "velocity": {
                    "x": 6.545515060424805,
                    "y": -0.11187313497066498,
                    "z": 0.3530820310115814
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.513955116271973,
                "transform": {
                    "location": {
                        "x": -1197.796875,
                        "y": 3102.740234375,
                        "z": 351.23504638671875
                    },
                    "rotation": {
                        "roll": 0.015944596379995346,
                        "pitch": 3.0066354274749756,
                        "yaw": -0.8968809247016907
                    }
                },
                "velocity": {
                    "x": 6.5033698081970215,
                    "y": -0.12138218432664871,
                    "z": 0.35079941153526306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.253219604492188,
                "transform": {
                    "location": {
                        "x": -1196.837890625,
                        "y": 3099.2255859375,
                        "z": 351.2811584472656
                    },
                    "rotation": {
                        "roll": 0.015563392080366611,
                        "pitch": 3.0857973098754883,
                        "yaw": -0.9924008250236511
                    }
                },
                "velocity": {
                    "x": 8.240303993225098,
                    "y": -0.1502790004014969,
                    "z": 0.43640363216400146
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.307825088500977,
                "transform": {
                    "location": {
                        "x": -1197.883544921875,
                        "y": 3095.745361328125,
                        "z": 351.2352600097656
                    },
                    "rotation": {
                        "roll": 0.02784569375216961,
                        "pitch": 3.411604166030884,
                        "yaw": -0.989105224609375
                    }
                },
                "velocity": {
                    "x": 8.29446792602539,
                    "y": -0.15106797218322754,
                    "z": 0.44602569937705994
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.614501953125,
                        "y": 3075.61376953125,
                        "z": 355.6335144042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.805777549743652,
                "transform": {
                    "location": {
                        "x": -1143.3818359375,
                        "y": 3094.552001953125,
                        "z": 353.5685119628906
                    },
                    "rotation": {
                        "roll": 0.0032331000547856092,
                        "pitch": 2.2724857330322266,
                        "yaw": -1.2605897188186646
                    }
                },
                "velocity": {
                    "x": 11.79504108428955,
                    "y": -0.26051685214042664,
                    "z": 0.430713951587677
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.583715438842773,
                "transform": {
                    "location": {
                        "x": -1148.4554443359375,
                        "y": 3098.162109375,
                        "z": 353.37908935546875
                    },
                    "rotation": {
                        "roll": 0.00793536938726902,
                        "pitch": 2.255772352218628,
                        "yaw": -1.1903382539749146
                    }
                },
                "velocity": {
                    "x": 11.573447227478027,
                    "y": -0.2430773824453354,
                    "z": 0.422717422246933
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.389907836914062,
                "transform": {
                    "location": {
                        "x": -1148.0208740234375,
                        "y": 3101.655517578125,
                        "z": 353.4261779785156
                    },
                    "rotation": {
                        "roll": 0.005294792354106903,
                        "pitch": 2.1900863647460938,
                        "yaw": -1.227020025253296
                    }
                },
                "velocity": {
                    "x": 12.378793716430664,
                    "y": -0.26734235882759094,
                    "z": 0.45146286487579346
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.722330093383789,
                "transform": {
                    "location": {
                        "x": -1144.558837890625,
                        "y": 3105.07958984375,
                        "z": 353.5206298828125
                    },
                    "rotation": {
                        "roll": 0.0009495735284872353,
                        "pitch": 2.00126576423645,
                        "yaw": -1.2439879179000854
                    }
                },
                "velocity": {
                    "x": 11.711800575256348,
                    "y": -0.2542147934436798,
                    "z": 0.4267635941505432
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.352848052978516,
                "transform": {
                    "location": {
                        "x": -1125.147216796875,
                        "y": 3094.146484375,
                        "z": 354.2273254394531
                    },
                    "rotation": {
                        "roll": -0.00015258626081049442,
                        "pitch": 2.1015193462371826,
                        "yaw": -1.286956548690796
                    }
                },
                "velocity": {
                    "x": 12.341506004333496,
                    "y": -0.2769465148448944,
                    "z": 0.45096853375434875
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.591094017028809,
                "transform": {
                    "location": {
                        "x": -1129.41064453125,
                        "y": 3097.741455078125,
                        "z": 354.0769348144531
                    },
                    "rotation": {
                        "roll": 0.003490386763587594,
                        "pitch": 2.2861597537994385,
                        "yaw": -1.26385498046875
                    }
                },
                "velocity": {
                    "x": 12.579668045043945,
                    "y": -0.2781471312046051,
                    "z": 0.45853063464164734
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.241436004638672,
                "transform": {
                    "location": {
                        "x": -1127.314208984375,
                        "y": 3101.1962890625,
                        "z": 354.15045166015625
                    },
                    "rotation": {
                        "roll": -0.0006103512132540345,
                        "pitch": 2.292163610458374,
                        "yaw": -1.288787841796875
                    }
                },
                "velocity": {
                    "x": 13.229348182678223,
                    "y": -0.295342355966568,
                    "z": 0.48241621255874634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.73112964630127,
                "transform": {
                    "location": {
                        "x": -1125.6318359375,
                        "y": 3104.69873046875,
                        "z": 354.2402648925781
                    },
                    "rotation": {
                        "roll": -0.00976562313735485,
                        "pitch": 2.2063353061676025,
                        "yaw": -0.6087645292282104
                    }
                },
                "velocity": {
                    "x": 13.721161842346191,
                    "y": -0.14841854572296143,
                    "z": 0.5016207098960876
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.800568580627441,
                "transform": {
                    "location": {
                        "x": -1123.3941650390625,
                        "y": 3076.503173828125,
                        "z": 354.3146057128906
                    },
                    "rotation": {
                        "roll": 1.6686340087446183e-09,
                        "pitch": -2.0875515937805176,
                        "yaw": 178.71148681640625
                    }
                },
                "velocity": {
                    "x": -15.786103248596191,
                    "y": 0.35485538840293884,
                    "z": -0.5753147006034851
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.457763671875,
                        "y": 3081.315185546875,
                        "z": 345.9398498535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1274.7755126953125,
                        "y": 3079.88427734375,
                        "z": 347.3969421386719
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 17.04322052001953,
                "transform": {
                    "location": {
                        "x": -1237.1846923828125,
                        "y": 3079.044921875,
                        "z": 349.1976623535156
                    },
                    "rotation": {
                        "roll": -0.000732416519895196,
                        "pitch": -2.917508363723755,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": -17.017436981201172,
                    "y": 0.3803061544895172,
                    "z": -0.8564722537994385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.44970703125,
                "transform": {
                    "location": {
                        "x": -1155.4703369140625,
                        "y": 3077.21923828125,
                        "z": 353.13714599609375
                    },
                    "rotation": {
                        "roll": -0.0013732920633628964,
                        "pitch": -2.1193530559539795,
                        "yaw": 178.72361755371094
                    }
                },
                "velocity": {
                    "x": -16.434661865234375,
                    "y": 0.36770719289779663,
                    "z": -0.5995866060256958
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9983309507369995,
        "expert_target_speed": 20.0,
        "target_point": [
            56.572075132440126,
            7.153052714949194
        ],
        "target_point_next": [
            107.11802109207537,
            14.341262796432037
        ]
    },
    "230": {
        "acceleration": [
            -1.9488906860351562,
            -4.7176408767700195,
            -0.3690671920776367
        ],
        "angular_velocity": [
            -4.909600734710693,
            0.19025938212871552,
            14.4721097946167
        ],
        "forward_vector": [
            -0.9935286641120911,
            0.1033843383193016,
            -0.04703740030527115
        ],
        "right_vector": [
            -0.10381854325532913,
            -0.9945724606513977,
            0.006877127569168806
        ],
        "location": [
            -1189.852783203125,
            3077.980224609375,
            351.6726989746094
        ],
        "rotation": [
            -0.39447012543678284,
            -2.6960394382476807,
            174.05931091308594
        ],
        "velocity": [
            -28.218385696411133,
            3.6735124588012695,
            -1.4121793508529663
        ],
        "speed": 28.456492846034077,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 51.66986846923828,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1241.439697265625,
                3079.139892578125,
                348.98553466796875
            ],
            "velocity": [
                -17.01753044128418,
                0.37933316826820374,
                -0.837785542011261
            ],
            "speed_kmh": 61.352505106208405,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1040.4722900390625,
                        "y": 3074.650146484375,
                        "z": 356.6406555175781
                    },
                    "rotation": {
                        "roll": -4.1690573215902305e-10,
                        "pitch": -0.616028368473053,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.1006035804748535,
                "transform": {
                    "location": {
                        "x": -1236.5386962890625,
                        "y": 3107.05126953125,
                        "z": 349.1546936035156
                    },
                    "rotation": {
                        "roll": 0.01808910444378853,
                        "pitch": 2.8919496536254883,
                        "yaw": -0.8658751845359802
                    }
                },
                "velocity": {
                    "x": 6.090214729309082,
                    "y": -0.07581093907356262,
                    "z": 0.3477039337158203
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.894404888153076,
                "transform": {
                    "location": {
                        "x": -1236.7061767578125,
                        "y": 3103.5595703125,
                        "z": 349.1534729003906
                    },
                    "rotation": {
                        "roll": 0.023506872355937958,
                        "pitch": 2.8925371170043945,
                        "yaw": -0.8047788739204407
                    }
                },
                "velocity": {
                    "x": 5.885467529296875,
                    "y": -0.07154154032468796,
                    "z": 0.3164874017238617
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.196602821350098,
                "transform": {
                    "location": {
                        "x": -1236.649169921875,
                        "y": 3100.059814453125,
                        "z": 349.1636657714844
                    },
                    "rotation": {
                        "roll": 0.017664454877376556,
                        "pitch": 2.881998062133789,
                        "yaw": -0.8047179579734802
                    }
                },
                "velocity": {
                    "x": 6.180213928222656,
                    "y": -0.07609418034553528,
                    "z": 0.4438993036746979
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.532449245452881,
                "transform": {
                    "location": {
                        "x": -1236.757568359375,
                        "y": 3096.565185546875,
                        "z": 349.1620178222656
                    },
                    "rotation": {
                        "roll": 0.024893252179026604,
                        "pitch": 2.914113759994507,
                        "yaw": -0.7710875272750854
                    }
                },
                "velocity": {
                    "x": 6.51694393157959,
                    "y": -0.08147959411144257,
                    "z": 0.44237905740737915
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1063.2943115234375,
                        "y": 3075.159912109375,
                        "z": 356.096435546875
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.513703346252441,
                "transform": {
                    "location": {
                        "x": -1195.8172607421875,
                        "y": 3106.20654296875,
                        "z": 351.3245544433594
                    },
                    "rotation": {
                        "roll": 0.013768976554274559,
                        "pitch": 3.0659282207489014,
                        "yaw": -1.042022705078125
                    }
                },
                "velocity": {
                    "x": 7.502250671386719,
                    "y": -0.1380988508462906,
                    "z": 0.39103156328201294
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.84181547164917,
                "transform": {
                    "location": {
                        "x": -1196.0633544921875,
                        "y": 3102.708984375,
                        "z": 351.3280029296875
                    },
                    "rotation": {
                        "roll": 0.010750356130301952,
                        "pitch": 2.9159646034240723,
                        "yaw": -1.0277098417282104
                    }
                },
                "velocity": {
                    "x": 7.82981014251709,
                    "y": -0.14677537977695465,
                    "z": 0.4081679582595825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.81086540222168,
                "transform": {
                    "location": {
                        "x": -1194.8489990234375,
                        "y": 3099.18896484375,
                        "z": 351.38616943359375
                    },
                    "rotation": {
                        "roll": 0.011553550139069557,
                        "pitch": 2.9688303470611572,
                        "yaw": -1.0826722383499146
                    }
                },
                "velocity": {
                    "x": 7.798852920532227,
                    "y": -0.14888371527194977,
                    "z": 0.40663039684295654
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.910229682922363,
                "transform": {
                    "location": {
                        "x": -1195.8551025390625,
                        "y": 3095.70751953125,
                        "z": 351.3429870605469
                    },
                    "rotation": {
                        "roll": 0.018712898716330528,
                        "pitch": 3.0604982376098633,
                        "yaw": -1.0771485567092896
                    }
                },
                "velocity": {
                    "x": 7.897847652435303,
                    "y": -0.1505051702260971,
                    "z": 0.41603583097457886
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1087.56201171875,
                        "y": 3075.7021484375,
                        "z": 355.5267028808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.236457824707031,
                "transform": {
                    "location": {
                        "x": -1140.377685546875,
                        "y": 3094.48583984375,
                        "z": 353.67803955078125
                    },
                    "rotation": {
                        "roll": 0.002286870963871479,
                        "pitch": 2.2197635173797607,
                        "yaw": -1.2727354764938354
                    }
                },
                "velocity": {
                    "x": 12.225324630737305,
                    "y": -0.27133920788764954,
                    "z": 0.44578832387924194
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.586091041564941,
                "transform": {
                    "location": {
                        "x": -1145.41796875,
                        "y": 3098.09716796875,
                        "z": 353.4898681640625
                    },
                    "rotation": {
                        "roll": 0.005408772267401218,
                        "pitch": 2.2638728618621826,
                        "yaw": -1.235443115234375
                    }
                },
                "velocity": {
                    "x": 12.574831008911133,
                    "y": -0.27046698331832886,
                    "z": 0.45844289660453796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.087206840515137,
                "transform": {
                    "location": {
                        "x": -1144.8397216796875,
                        "y": 3101.586181640625,
                        "z": 353.54229736328125
                    },
                    "rotation": {
                        "roll": 0.0042540086433291435,
                        "pitch": 2.1780993938446045,
                        "yaw": -1.2647703886032104
                    }
                },
                "velocity": {
                    "x": 13.07532787322998,
                    "y": -0.2898212671279907,
                    "z": 0.4762076437473297
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.46884822845459,
                "transform": {
                    "location": {
                        "x": -1141.532958984375,
                        "y": 3105.013671875,
                        "z": 353.6309814453125
                    },
                    "rotation": {
                        "roll": 0.0015431154752150178,
                        "pitch": 2.003772497177124,
                        "yaw": -1.25189208984375
                    }
                },
                "velocity": {
                    "x": 12.457626342773438,
                    "y": -0.27216580510139465,
                    "z": 0.4534561038017273
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.990981101989746,
                "transform": {
                    "location": {
                        "x": -1121.969970703125,
                        "y": 3094.0751953125,
                        "z": 354.3432312011719
                    },
                    "rotation": {
                        "roll": -0.0007019030163064599,
                        "pitch": 2.103527307510376,
                        "yaw": -1.285827398300171
                    }
                },
                "velocity": {
                    "x": 12.979114532470703,
                    "y": -0.29105231165885925,
                    "z": 0.4727264940738678
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.381484985351562,
                "transform": {
                    "location": {
                        "x": -1126.1634521484375,
                        "y": 3097.669677734375,
                        "z": 354.1953125
                    },
                    "rotation": {
                        "roll": 0.001526684151031077,
                        "pitch": 2.2930309772491455,
                        "yaw": -1.276275396347046
                    }
                },
                "velocity": {
                    "x": 13.36929988861084,
                    "y": -0.2970484793186188,
                    "z": 0.48755431175231934
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.064549446105957,
                "transform": {
                    "location": {
                        "x": -1123.9002685546875,
                        "y": 3101.119873046875,
                        "z": 354.27496337890625
                    },
                    "rotation": {
                        "roll": -0.0008544893935322762,
                        "pitch": 2.29835844039917,
                        "yaw": -1.2633665800094604
                    }
                },
                "velocity": {
                    "x": 14.05175495147705,
                    "y": -0.31180471181869507,
                    "z": 0.5123533606529236
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3786,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1121.5714111328125,
                        "y": 3104.58251953125,
                        "z": 354.363037109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": 1.3559300899505615
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.786951065063477,
                "transform": {
                    "location": {
                        "x": -1127.3402099609375,
                        "y": 3076.591552734375,
                        "z": 354.1707458496094
                    },
                    "rotation": {
                        "roll": 0.0008983004954643548,
                        "pitch": -2.081267833709717,
                        "yaw": 178.7174072265625
                    }
                },
                "velocity": {
                    "x": -15.772505760192871,
                    "y": 0.35324832797050476,
                    "z": -0.5754026174545288
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1322.701171875,
                        "y": 3081.533935546875,
                        "z": 345.8523864746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1279.0185546875,
                        "y": 3079.979248046875,
                        "z": 347.2247314453125
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 17.042362213134766,
                "transform": {
                    "location": {
                        "x": -1241.439697265625,
                        "y": 3079.139892578125,
                        "z": 348.98553466796875
                    },
                    "rotation": {
                        "roll": -0.0003051720268558711,
                        "pitch": -2.8275136947631836,
                        "yaw": 178.72361755371094
                    }
                },
                "velocity": {
                    "x": -17.01753044128418,
                    "y": 0.37933316826820374,
                    "z": -0.837785542011261
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.450925827026367,
                "transform": {
                    "location": {
                        "x": -1159.5784912109375,
                        "y": 3077.310791015625,
                        "z": 352.986083984375
                    },
                    "rotation": {
                        "roll": -0.0007019035401754081,
                        "pitch": -2.173823595046997,
                        "yaw": 178.7246551513672
                    }
                },
                "velocity": {
                    "x": -16.435483932495117,
                    "y": 0.3659825921058655,
                    "z": -0.6114540100097656
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.00029718875885,
        "expert_target_speed": 20.0,
        "target_point": [
            49.834190536775104,
            4.055777714895736
        ],
        "target_point_next": [
            100.72084650778571,
            8.19235374077867
        ]
    },
    "235": {
        "acceleration": [
            -1.2584686279296875,
            -5.313138961791992,
            -0.4682159423828125
        ],
        "angular_velocity": [
            -2.6898512840270996,
            -1.050042986869812,
            9.747117042541504
        ],
        "forward_vector": [
            -0.9974731802940369,
            0.04990129917860031,
            -0.050568338483572006
        ],
        "right_vector": [
            -0.051143351942300797,
            -0.9984130859375,
            0.023572271689772606
        ],
        "location": [
            -1196.9605712890625,
            3078.734619140625,
            351.3059387207031
        ],
        "rotation": [
            -1.352447509765625,
            -2.8985886573791504,
            177.13601684570312
        ],
        "velocity": [
            -28.61288833618164,
            2.3711204528808594,
            -1.5225467681884766
        ],
        "speed": 28.71096639162237,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 48.80122375488281,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1245.693603515625,
                3079.234619140625,
                348.77593994140625
            ],
            "velocity": [
                -17.01446533203125,
                0.3790174722671509,
                -0.8387449979782104
            ],
            "speed_kmh": 61.34163142795034,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.468017578125,
                        "y": 3074.7392578125,
                        "z": 356.4266662597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.733922958374023,
                "transform": {
                    "location": {
                        "x": -1235.0626220703125,
                        "y": 3107.032470703125,
                        "z": 349.2325744628906
                    },
                    "rotation": {
                        "roll": 0.02984468638896942,
                        "pitch": 2.9266538619995117,
                        "yaw": -0.6700744032859802
                    }
                },
                "velocity": {
                    "x": 5.726012229919434,
                    "y": -0.06247634440660477,
                    "z": 0.29454129934310913
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.995784759521484,
                "transform": {
                    "location": {
                        "x": -1235.2215576171875,
                        "y": 3103.54150390625,
                        "z": 349.230224609375
                    },
                    "rotation": {
                        "roll": 0.029508719220757484,
                        "pitch": 2.926394462585449,
                        "yaw": -0.7012938857078552
                    }
                },
                "velocity": {
                    "x": 5.9875383377075195,
                    "y": -0.06858464330434799,
                    "z": 0.3067750930786133
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.1130690574646,
                "transform": {
                    "location": {
                        "x": -1235.15673828125,
                        "y": 3100.041259765625,
                        "z": 349.25408935546875
                    },
                    "rotation": {
                        "roll": 0.029313376173377037,
                        "pitch": 2.812835693359375,
                        "yaw": -0.6778258085250854
                    }
                },
                "velocity": {
                    "x": 5.106166362762451,
                    "y": -0.058040618896484375,
                    "z": 0.25917670130729675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0569233894348145,
                "transform": {
                    "location": {
                        "x": -1235.2913818359375,
                        "y": 3096.5458984375,
                        "z": 349.2507019042969
                    },
                    "rotation": {
                        "roll": 0.03397217020392418,
                        "pitch": 2.7397525310516357,
                        "yaw": -0.6249389052391052
                    }
                },
                "velocity": {
                    "x": 5.0498480796813965,
                    "y": -0.06324902176856995,
                    "z": 0.25982582569122314
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1067.3038330078125,
                        "y": 3075.249267578125,
                        "z": 356.01849365234375
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.527627944946289,
                "transform": {
                    "location": {
                        "x": -1193.8531494140625,
                        "y": 3106.170654296875,
                        "z": 351.4278869628906
                    },
                    "rotation": {
                        "roll": 0.00924671534448862,
                        "pitch": 2.9818828105926514,
                        "yaw": -1.1131285429000854
                    }
                },
                "velocity": {
                    "x": 8.514656066894531,
                    "y": -0.16173048317432404,
                    "z": 0.4415031373500824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.259886741638184,
                "transform": {
                    "location": {
                        "x": -1194.002685546875,
                        "y": 3102.670166015625,
                        "z": 351.4357604980469
                    },
                    "rotation": {
                        "roll": 0.009547782130539417,
                        "pitch": 2.864253282546997,
                        "yaw": -1.0668944120407104
                    }
                },
                "velocity": {
                    "x": 8.247232437133789,
                    "y": -0.15619155764579773,
                    "z": 0.4295225441455841
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.095222473144531,
                "transform": {
                    "location": {
                        "x": -1192.8748779296875,
                        "y": 3099.150634765625,
                        "z": 351.4885559082031
                    },
                    "rotation": {
                        "roll": 0.008683020249009132,
                        "pitch": 2.948093891143799,
                        "yaw": -1.1373900175094604
                    }
                },
                "velocity": {
                    "x": 8.0828218460083,
                    "y": -0.1652950495481491,
                    "z": 0.4162946343421936
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.98025369644165,
                "transform": {
                    "location": {
                        "x": -1193.8912353515625,
                        "y": 3095.669677734375,
                        "z": 351.4461669921875
                    },
                    "rotation": {
                        "roll": 0.01580406166613102,
                        "pitch": 2.983125925064087,
                        "yaw": -1.1067808866500854
                    }
                },
                "velocity": {
                    "x": 7.967996120452881,
                    "y": -0.15886034071445465,
                    "z": 0.41261565685272217
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1091.5721435546875,
                        "y": 3075.791748046875,
                        "z": 355.4106140136719
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.86474895477295,
                "transform": {
                    "location": {
                        "x": -1137.246826171875,
                        "y": 3094.416259765625,
                        "z": 353.7922058105469
                    },
                    "rotation": {
                        "roll": -0.0006713863695040345,
                        "pitch": 2.2343597412109375,
                        "yaw": -1.273284912109375
                    }
                },
                "velocity": {
                    "x": 12.85305404663086,
                    "y": -0.28579896688461304,
                    "z": 0.4680519104003906
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.24775505065918,
                "transform": {
                    "location": {
                        "x": -1142.189697265625,
                        "y": 3098.02685546875,
                        "z": 353.6075439453125
                    },
                    "rotation": {
                        "roll": 0.00498303584754467,
                        "pitch": 2.223438262939453,
                        "yaw": -1.2586058378219604
                    }
                },
                "velocity": {
                    "x": 13.23576545715332,
                    "y": -0.29151347279548645,
                    "z": 0.4822242558002472
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.920151710510254,
                "transform": {
                    "location": {
                        "x": -1141.46435546875,
                        "y": 3101.51123046875,
                        "z": 353.6653137207031
                    },
                    "rotation": {
                        "roll": 0.0022201198153197765,
                        "pitch": 2.187190294265747,
                        "yaw": -1.282073974609375
                    }
                },
                "velocity": {
                    "x": 13.907451629638672,
                    "y": -0.31053581833839417,
                    "z": 0.506927490234375
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.165789604187012,
                "transform": {
                    "location": {
                        "x": -1138.328125,
                        "y": 3104.943115234375,
                        "z": 353.747802734375
                    },
                    "rotation": {
                        "roll": -0.0016479480545967817,
                        "pitch": 2.0065524578094482,
                        "yaw": -1.267547607421875
                    }
                },
                "velocity": {
                    "x": 13.153748512268066,
                    "y": -0.2948438823223114,
                    "z": 0.479573518037796
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3789,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.3250732421875,
                        "y": 3093.871826171875,
                        "z": 354.55340576171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3788,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1121.0635986328125,
                        "y": 3097.482666015625,
                        "z": 354.3796081542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3787,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.2008056640625,
                        "y": 3100.90673828125,
                        "z": 354.4808654785156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.757140159606934,
                "transform": {
                    "location": {
                        "x": -1131.2901611328125,
                        "y": 3076.6796875,
                        "z": 354.0266418457031
                    },
                    "rotation": {
                        "roll": 0.0001213439682032913,
                        "pitch": -2.0775725841522217,
                        "yaw": 178.72337341308594
                    }
                },
                "velocity": {
                    "x": -15.742752075195312,
                    "y": 0.3510017693042755,
                    "z": -0.5744771361351013
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1326.94384765625,
                        "y": 3081.77001953125,
                        "z": 345.7799987792969
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1283.260986328125,
                        "y": 3080.073974609375,
                        "z": 347.0593566894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 17.03934097290039,
                "transform": {
                    "location": {
                        "x": -1245.693603515625,
                        "y": 3079.234619140625,
                        "z": 348.77593994140625
                    },
                    "rotation": {
                        "roll": -0.0007324172183871269,
                        "pitch": -2.8354434967041016,
                        "yaw": 178.72415161132812
                    }
                },
                "velocity": {
                    "x": -17.01446533203125,
                    "y": 0.3790174722671509,
                    "z": -0.8387449979782104
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.45330810546875,
                "transform": {
                    "location": {
                        "x": -1163.6868896484375,
                        "y": 3077.40234375,
                        "z": 352.8306884765625
                    },
                    "rotation": {
                        "roll": -0.0005493194912560284,
                        "pitch": -2.2356505393981934,
                        "yaw": 178.71987915039062
                    }
                },
                "velocity": {
                    "x": -16.43677520751953,
                    "y": 0.3670443892478943,
                    "z": -0.6395621299743652
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0006749629974365,
        "expert_target_speed": 20.0,
        "target_point": [
            42.843439630450234,
            1.7735054605296054
        ],
        "target_point_next": [
            93.87876790437242,
            3.172892863251807
        ]
    },
    "240": {
        "acceleration": [
            -1.0642242431640625,
            -4.707679748535156,
            -0.22441625595092773
        ],
        "angular_velocity": [
            -0.6860923171043396,
            -0.4112478494644165,
            7.791921138763428
        ],
        "forward_vector": [
            -0.9984938502311707,
            0.012034163810312748,
            -0.053527865558862686
        ],
        "right_vector": [
            -0.013676061294972897,
            -0.9994438290596008,
            0.030413925647735596
        ],
        "location": [
            -1204.149658203125,
            3079.16650390625,
            350.9150390625
        ],
        "rotation": [
            -1.745361328125,
            -3.068387269973755,
            179.3094940185547
        ],
        "velocity": [
            -28.89939308166504,
            1.120850682258606,
            -1.6005398035049438
        ],
        "speed": 28.92112077255148,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 45.8576545715332,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1249.9468994140625,
                3079.32958984375,
                348.5675354003906
            ],
            "velocity": [
                -17.012454986572266,
                0.38160476088523865,
                -0.827166736125946
            ],
            "speed_kmh": 61.33257481699658,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1274.64404296875,
                        "y": 3107.556396484375,
                        "z": 347.45367431640625
                    },
                    "rotation": {
                        "roll": 1.6689581938678089e-09,
                        "pitch": 2.3732993602752686,
                        "yaw": 1.091806173324585
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1274.71337890625,
                        "y": 3104.388916015625,
                        "z": 347.4534606933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3732993602752686,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1274.79150390625,
                        "y": 3100.889892578125,
                        "z": 347.4534606933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3732993602752686,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1274.86962890625,
                        "y": 3097.390625,
                        "z": 347.4534606933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3732993602752686,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.4732666015625,
                        "y": 3074.82861328125,
                        "z": 356.3558044433594
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.382116794586182,
                "transform": {
                    "location": {
                        "x": -1233.64404296875,
                        "y": 3107.01611328125,
                        "z": 349.30511474609375
                    },
                    "rotation": {
                        "roll": 0.035558201372623444,
                        "pitch": 2.9117300510406494,
                        "yaw": -0.6071165800094604
                    }
                },
                "velocity": {
                    "x": 5.374726295471191,
                    "y": -0.0688822790980339,
                    "z": 0.2734147310256958
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.506269931793213,
                "transform": {
                    "location": {
                        "x": -1233.69775390625,
                        "y": 3103.523681640625,
                        "z": 349.30804443359375
                    },
                    "rotation": {
                        "roll": 0.03160526975989342,
                        "pitch": 2.936660051345825,
                        "yaw": -0.6753234267234802
                    }
                },
                "velocity": {
                    "x": 6.497288703918457,
                    "y": -0.08777395635843277,
                    "z": 0.3302752673625946
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.9371867179870605,
                "transform": {
                    "location": {
                        "x": -1233.962890625,
                        "y": 3100.027099609375,
                        "z": 349.3105773925781
                    },
                    "rotation": {
                        "roll": 0.036263737827539444,
                        "pitch": 2.743147373199463,
                        "yaw": -0.6938780546188354
                    }
                },
                "velocity": {
                    "x": 4.931190490722656,
                    "y": -0.07494036108255386,
                    "z": 0.2314208298921585
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.019526481628418,
                "transform": {
                    "location": {
                        "x": -1234.068603515625,
                        "y": 3096.530517578125,
                        "z": 349.30859375
                    },
                    "rotation": {
                        "roll": 0.038315076380968094,
                        "pitch": 2.816995143890381,
                        "yaw": -0.6202390789985657
                    }
                },
                "velocity": {
                    "x": 5.013284683227539,
                    "y": -0.07218968123197556,
                    "z": 0.23960816860198975
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.250244140625,
                        "y": 3075.33740234375,
                        "z": 355.93450927734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.224443435668945,
                "transform": {
                    "location": {
                        "x": -1191.7498779296875,
                        "y": 3106.12890625,
                        "z": 351.5364074707031
                    },
                    "rotation": {
                        "roll": 0.008116005919873714,
                        "pitch": 2.952021360397339,
                        "yaw": -1.1724852323532104
                    }
                },
                "velocity": {
                    "x": 8.211878776550293,
                    "y": -0.1681905835866928,
                    "z": 0.42217451333999634
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.863412380218506,
                "transform": {
                    "location": {
                        "x": -1191.9984130859375,
                        "y": 3102.630126953125,
                        "z": 351.5382995605469
                    },
                    "rotation": {
                        "roll": 0.0036879591643810272,
                        "pitch": 2.962956428527832,
                        "yaw": -1.1466370820999146
                    }
                },
                "velocity": {
                    "x": 7.851345062255859,
                    "y": -0.16311359405517578,
                    "z": 0.40376943349838257
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.266980171203613,
                "transform": {
                    "location": {
                        "x": -1190.8026123046875,
                        "y": 3099.107666015625,
                        "z": 351.59442138671875
                    },
                    "rotation": {
                        "roll": 0.0033924896270036697,
                        "pitch": 2.9225831031799316,
                        "yaw": -1.198760986328125
                    }
                },
                "velocity": {
                    "x": 8.254822731018066,
                    "y": -0.17458175122737885,
                    "z": 0.4127824306488037
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.103513717651367,
                "transform": {
                    "location": {
                        "x": -1191.8687744140625,
                        "y": 3095.62841796875,
                        "z": 351.5502014160156
                    },
                    "rotation": {
                        "roll": 0.010946658439934254,
                        "pitch": 2.9982478618621826,
                        "yaw": -1.175262451171875
                    }
                },
                "velocity": {
                    "x": 8.091140747070312,
                    "y": -0.16836953163146973,
                    "z": 0.41476181149482727
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1095.578369140625,
                        "y": 3075.881103515625,
                        "z": 355.2881164550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3795,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.738306045532227,
                "transform": {
                    "location": {
                        "x": -1133.921630859375,
                        "y": 3094.341552734375,
                        "z": 353.9134826660156
                    },
                    "rotation": {
                        "roll": 7.075069879647344e-05,
                        "pitch": 2.277895212173462,
                        "yaw": -1.285247564315796
                    }
                },
                "velocity": {
                    "x": 13.725728034973145,
                    "y": -0.30769264698028564,
                    "z": 0.5007514357566833
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.033158302307129,
                "transform": {
                    "location": {
                        "x": -1138.780029296875,
                        "y": 3097.951171875,
                        "z": 353.7319030761719
                    },
                    "rotation": {
                        "roll": 0.0010692393407225609,
                        "pitch": 2.2281851768493652,
                        "yaw": -1.279296875
                    }
                },
                "velocity": {
                    "x": 14.020347595214844,
                    "y": -0.3127935826778412,
                    "z": 0.511412501335144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.811040878295898,
                "transform": {
                    "location": {
                        "x": -1137.872314453125,
                        "y": 3101.431396484375,
                        "z": 353.79620361328125
                    },
                    "rotation": {
                        "roll": -0.0007629413157701492,
                        "pitch": 2.195120334625244,
                        "yaw": -1.2691649198532104
                    }
                },
                "velocity": {
                    "x": 14.797569274902344,
                    "y": -0.32816076278686523,
                    "z": 0.5396127104759216
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3792,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1134.395751953125,
                        "y": 3104.764892578125,
                        "z": 353.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.782733917236328,
                "transform": {
                    "location": {
                        "x": -1135.2373046875,
                        "y": 3076.767822265625,
                        "z": 353.8828125
                    },
                    "rotation": {
                        "roll": -0.0002746576792560518,
                        "pitch": -2.0810561180114746,
                        "yaw": 178.7229766845703
                    }
                },
                "velocity": {
                    "x": -15.768305778503418,
                    "y": 0.35137248039245605,
                    "z": -0.5759784579277039
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3769,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1331.18603515625,
                        "y": 3082.019287109375,
                        "z": 345.7193603515625
                    },
                    "rotation": {
                        "roll": 1.6676037217777662e-09,
                        "pitch": -0.551086962223053,
                        "yaw": 176.33619689941406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1287.5035400390625,
                        "y": 3080.1728515625,
                        "z": 346.9010009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 17.036827087402344,
                "transform": {
                    "location": {
                        "x": -1249.9468994140625,
                        "y": 3079.32958984375,
                        "z": 348.5675354003906
                    },
                    "rotation": {
                        "roll": 0.00025947755784727633,
                        "pitch": -2.7884793281555176,
                        "yaw": 178.71853637695312
                    }
                },
                "velocity": {
                    "x": -17.012454986572266,
                    "y": 0.38160476088523865,
                    "z": -0.827166736125946
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.45627784729004,
                "transform": {
                    "location": {
                        "x": -1167.79541015625,
                        "y": 3077.494384765625,
                        "z": 352.66815185546875
                    },
                    "rotation": {
                        "roll": -0.0005187977221794426,
                        "pitch": -2.3385541439056396,
                        "yaw": 178.7229766845703
                    }
                },
                "velocity": {
                    "x": -16.438743591308594,
                    "y": 0.3680368661880493,
                    "z": -0.6643214821815491
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.998855471611023,
        "expert_target_speed": 20.0,
        "target_point": [
            35.68610817713065,
            0.49259900700486825
        ],
        "target_point_next": [
            86.73779270098477,
            -0.04454567254750086
        ]
    },
    "245": {
        "acceleration": [
            -1.0412979125976562,
            -4.0637593269348145,
            0.13746976852416992
        ],
        "angular_velocity": [
            0.1330709308385849,
            0.38264942169189453,
            7.034756660461426
        ],
        "forward_vector": [
            -0.9983914494514465,
            -0.020249951630830765,
            -0.05295718461275101
        ],
        "right_vector": [
            0.01860424503684044,
            -0.9993341565132141,
            0.03138666972517967
        ],
        "location": [
            -1211.4080810546875,
            3079.310302734375,
            350.5130310058594
        ],
        "rotation": [
            -1.8011474609375,
            -3.0356433391571045,
            -178.8380584716797
        ],
        "velocity": [
            -29.15925407409668,
            0.03879097104072571,
            -1.598610758781433
        ],
        "speed": 29.159279876175923,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 42.84695053100586,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1254.2008056640625,
                3079.424560546875,
                348.3611145019531
            ],
            "velocity": [
                -17.02010154724121,
                0.37991663813591003,
                -0.8217262029647827
            ],
            "speed_kmh": 61.358979926228756,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.203790187835693,
                "transform": {
                    "location": {
                        "x": -1272.59326171875,
                        "y": 3107.586181640625,
                        "z": 347.509765625
                    },
                    "rotation": {
                        "roll": 0.01439007930457592,
                        "pitch": 2.4241158962249756,
                        "yaw": 0.41361409425735474
                    }
                },
                "velocity": {
                    "x": 7.202828407287598,
                    "y": 0.10653537511825562,
                    "z": 0.050064437091350555
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.224310874938965,
                "transform": {
                    "location": {
                        "x": -1272.650634765625,
                        "y": 3104.3447265625,
                        "z": 347.5068359375
                    },
                    "rotation": {
                        "roll": -0.0188598595559597,
                        "pitch": 2.4220054149627686,
                        "yaw": -1.2035828828811646
                    }
                },
                "velocity": {
                    "x": 8.222457885742188,
                    "y": -0.14171981811523438,
                    "z": 0.10191379487514496
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.224534034729004,
                "transform": {
                    "location": {
                        "x": -1272.728759765625,
                        "y": 3100.845458984375,
                        "z": 347.5068664550781
                    },
                    "rotation": {
                        "roll": -0.0185852013528347,
                        "pitch": 2.422203540802002,
                        "yaw": -1.203521728515625
                    }
                },
                "velocity": {
                    "x": 8.222684860229492,
                    "y": -0.14157412946224213,
                    "z": 0.10181813687086105
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.120718955993652,
                "transform": {
                    "location": {
                        "x": -1272.8282470703125,
                        "y": 3097.347412109375,
                        "z": 347.4978332519531
                    },
                    "rotation": {
                        "roll": 0.0010087508708238602,
                        "pitch": 2.4242663383483887,
                        "yaw": -1.1559752225875854
                    }
                },
                "velocity": {
                    "x": 8.119364738464355,
                    "y": -0.13356953859329224,
                    "z": 0.06448438763618469
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.474853515625,
                        "y": 3074.91845703125,
                        "z": 356.2922668457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.32363224029541,
                "transform": {
                    "location": {
                        "x": -1232.3326416015625,
                        "y": 3106.998779296875,
                        "z": 349.371826171875
                    },
                    "rotation": {
                        "roll": 0.03045615181326866,
                        "pitch": 2.918853759765625,
                        "yaw": -0.7305601239204407
                    }
                },
                "velocity": {
                    "x": 5.316107273101807,
                    "y": -0.08108389377593994,
                    "z": 0.27108633518218994
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9164557456970215,
                "transform": {
                    "location": {
                        "x": -1231.8927001953125,
                        "y": 3103.4970703125,
                        "z": 349.39996337890625
                    },
                    "rotation": {
                        "roll": 0.02368912659585476,
                        "pitch": 2.9527385234832764,
                        "yaw": -0.8566589951515198
                    }
                },
                "velocity": {
                    "x": 7.905126094818115,
                    "y": -0.13126830756664276,
                    "z": 0.402516633272171
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.37474250793457,
                "transform": {
                    "location": {
                        "x": -1232.6845703125,
                        "y": 3100.0078125,
                        "z": 349.3712463378906
                    },
                    "rotation": {
                        "roll": 0.03373686596751213,
                        "pitch": 3.046489715576172,
                        "yaw": -0.8245847821235657
                    }
                },
                "velocity": {
                    "x": 5.367037296295166,
                    "y": -0.08734628558158875,
                    "z": 0.2741175889968872
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.351747989654541,
                "transform": {
                    "location": {
                        "x": -1232.7119140625,
                        "y": 3096.510498046875,
                        "z": 349.3726501464844
                    },
                    "rotation": {
                        "roll": 0.038614168763160706,
                        "pitch": 3.21667742729187,
                        "yaw": -0.8090513944625854
                    }
                },
                "velocity": {
                    "x": 6.342680931091309,
                    "y": -0.10478394478559494,
                    "z": 0.32267433404922485
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.3096923828125,
                        "y": 3075.427978515625,
                        "z": 355.8417053222656
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.920645713806152,
                "transform": {
                    "location": {
                        "x": -1189.7410888671875,
                        "y": 3106.087646484375,
                        "z": 351.6380310058594
                    },
                    "rotation": {
                        "roll": 0.0042833019979298115,
                        "pitch": 2.8593356609344482,
                        "yaw": -1.2206419706344604
                    }
                },
                "velocity": {
                    "x": 7.909071922302246,
                    "y": -0.16768778860569,
                    "z": 0.39381325244903564
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.982329368591309,
                "transform": {
                    "location": {
                        "x": -1190.02978515625,
                        "y": 3102.58935546875,
                        "z": 351.6383972167969
                    },
                    "rotation": {
                        "roll": 0.0053405058570206165,
                        "pitch": 2.8679006099700928,
                        "yaw": -1.1811522245407104
                    }
                },
                "velocity": {
                    "x": 7.970854759216309,
                    "y": -0.16444547474384308,
                    "z": 0.3949837386608124
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9943437576293945,
                "transform": {
                    "location": {
                        "x": -1188.77783203125,
                        "y": 3099.06494140625,
                        "z": 351.6963195800781
                    },
                    "rotation": {
                        "roll": 0.003688795492053032,
                        "pitch": 2.8100011348724365,
                        "yaw": -1.223358154296875
                    }
                },
                "velocity": {
                    "x": 7.982646942138672,
                    "y": -0.1721186637878418,
                    "z": 0.39655447006225586
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.938486099243164,
                "transform": {
                    "location": {
                        "x": -1189.8731689453125,
                        "y": 3095.586181640625,
                        "z": 351.6507263183594
                    },
                    "rotation": {
                        "roll": 0.006519095506519079,
                        "pitch": 2.868488073348999,
                        "yaw": -1.2050474882125854
                    }
                },
                "velocity": {
                    "x": 7.926640033721924,
                    "y": -0.16667184233665466,
                    "z": 0.4001976549625397
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1099.6099853515625,
                        "y": 3075.970947265625,
                        "z": 355.1588134765625
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3794,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.081298828125,
                        "y": 3097.742431640625,
                        "z": 353.94061279296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3793,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1132.1414794921875,
                        "y": 3101.208251953125,
                        "z": 353.9736633300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.2763671875,
                        "y": 3076.857421875,
                        "z": 353.73272705078125
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1291.7486572265625,
                        "y": 3080.28271484375,
                        "z": 346.7492370605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 17.044160842895508,
                "transform": {
                    "location": {
                        "x": -1254.2008056640625,
                        "y": 3079.424560546875,
                        "z": 348.3611145019531
                    },
                    "rotation": {
                        "roll": -0.0005798311321996152,
                        "pitch": -2.787017583847046,
                        "yaw": 178.72105407714844
                    }
                },
                "velocity": {
                    "x": -17.02010154724121,
                    "y": 0.37991663813591003,
                    "z": -0.8217262029647827
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.460216522216797,
                "transform": {
                    "location": {
                        "x": -1171.904296875,
                        "y": 3077.586181640625,
                        "z": 352.497802734375
                    },
                    "rotation": {
                        "roll": 0.0020405324175953865,
                        "pitch": -2.4723165035247803,
                        "yaw": 178.71070861816406
                    }
                },
                "velocity": {
                    "x": -16.441272735595703,
                    "y": 0.3693556487560272,
                    "z": -0.697745144367218
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9982710480690002,
        "expert_target_speed": 20.0,
        "target_point": [
            28.429367431365577,
            -0.3702824165631513
        ],
        "target_point_next": [
            79.43700786081929,
            -2.5574346630832276
        ]
    },
    "250": {
        "acceleration": [
            -1.1002731323242188,
            -2.740107774734497,
            0.24478435516357422
        ],
        "angular_velocity": [
            1.1971497535705566,
            0.7157633900642395,
            3.353994369506836
        ],
        "forward_vector": [
            -0.9977100491523743,
            -0.04314452037215233,
            -0.05208816006779671
        ],
        "right_vector": [
            0.04172118380665779,
            -0.9987337589263916,
            0.02811087854206562
        ],
        "location": [
            -1218.733154296875,
            3079.213623046875,
            350.11474609375
        ],
        "rotation": [
            -1.613037109375,
            -2.9857828617095947,
            -177.52386474609375
        ],
        "velocity": [
            -29.429447174072266,
            -0.7808182239532471,
            -1.5802339315414429
        ],
        "speed": 29.439803635051092,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 39.772972106933594,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1258.456787109375,
                3079.51953125,
                348.1580810546875
            ],
            "velocity": [
                -17.022781372070312,
                0.38211292028427124,
                -0.8022211194038391
            ],
            "speed_kmh": 61.365445686138585,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.798281192779541,
                "transform": {
                    "location": {
                        "x": -1270.87109375,
                        "y": 3107.61279296875,
                        "z": 347.5373229980469
                    },
                    "rotation": {
                        "roll": 0.0707324966788292,
                        "pitch": 2.395026206970215,
                        "yaw": 0.7272128462791443
                    }
                },
                "velocity": {
                    "x": 6.794303894042969,
                    "y": 0.11983443796634674,
                    "z": 0.19925187528133392
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.876380920410156,
                "transform": {
                    "location": {
                        "x": -1270.64013671875,
                        "y": 3104.313720703125,
                        "z": 347.5473327636719
                    },
                    "rotation": {
                        "roll": -0.0184631310403347,
                        "pitch": 2.384302854537964,
                        "yaw": -0.8227232694625854
                    }
                },
                "velocity": {
                    "x": 7.871514320373535,
                    "y": -0.09193765372037888,
                    "z": 0.2611217200756073
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.876327991485596,
                "transform": {
                    "location": {
                        "x": -1270.71826171875,
                        "y": 3100.814697265625,
                        "z": 347.5473327636719
                    },
                    "rotation": {
                        "roll": -0.0183105431497097,
                        "pitch": 2.3842687606811523,
                        "yaw": -0.8220214247703552
                    }
                },
                "velocity": {
                    "x": 7.87147331237793,
                    "y": -0.0918210968375206,
                    "z": 0.2608097195625305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.78041934967041,
                "transform": {
                    "location": {
                        "x": -1270.8433837890625,
                        "y": 3097.317626953125,
                        "z": 347.5444030761719
                    },
                    "rotation": {
                        "roll": 0.017903707921504974,
                        "pitch": 2.4119582176208496,
                        "yaw": -0.7852173447608948
                    }
                },
                "velocity": {
                    "x": 7.774592876434326,
                    "y": -0.08850157260894775,
                    "z": 0.28774601221084595
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.614990234375,
                        "y": 3075.010498046875,
                        "z": 356.2210388183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.320500373840332,
                "transform": {
                    "location": {
                        "x": -1230.8782958984375,
                        "y": 3106.97607421875,
                        "z": 349.44573974609375
                    },
                    "rotation": {
                        "roll": 0.025360314175486565,
                        "pitch": 2.951618194580078,
                        "yaw": -0.826934814453125
                    }
                },
                "velocity": {
                    "x": 6.311429500579834,
                    "y": -0.10330412536859512,
                    "z": 0.32234612107276917
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.274078369140625,
                "transform": {
                    "location": {
                        "x": -1229.8233642578125,
                        "y": 3103.462646484375,
                        "z": 349.505615234375
                    },
                    "rotation": {
                        "roll": 0.015506389550864697,
                        "pitch": 2.9365644454956055,
                        "yaw": -0.980987548828125
                    }
                },
                "velocity": {
                    "x": 8.26208209991455,
                    "y": -0.1448299139738083,
                    "z": 0.42119863629341125
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.391602993011475,
                "transform": {
                    "location": {
                        "x": -1231.0989990234375,
                        "y": 3099.981201171875,
                        "z": 349.4500427246094
                    },
                    "rotation": {
                        "roll": 0.029715055599808693,
                        "pitch": 3.3877053260803223,
                        "yaw": -0.7539366483688354
                    }
                },
                "velocity": {
                    "x": 7.380817890167236,
                    "y": -0.12205424159765244,
                    "z": 0.3800382912158966
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.172872066497803,
                "transform": {
                    "location": {
                        "x": -1231.00634765625,
                        "y": 3096.483154296875,
                        "z": 349.4595947265625
                    },
                    "rotation": {
                        "roll": 0.01995929703116417,
                        "pitch": 3.276277542114258,
                        "yaw": -1.069488286972046
                    }
                },
                "velocity": {
                    "x": 7.16230583190918,
                    "y": -0.12642556428909302,
                    "z": 0.36808082461357117
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1079.42236328125,
                        "y": 3075.52001953125,
                        "z": 355.7415466308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.845389366149902,
                "transform": {
                    "location": {
                        "x": -1187.7806396484375,
                        "y": 3106.0458984375,
                        "z": 351.73590087890625
                    },
                    "rotation": {
                        "roll": 0.0014671251410618424,
                        "pitch": 2.8062992095947266,
                        "yaw": -1.2453306913375854
                    }
                },
                "velocity": {
                    "x": 7.834116458892822,
                    "y": -0.1691630333662033,
                    "z": 0.3848870098590851
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.069576263427734,
                "transform": {
                    "location": {
                        "x": -1188.017578125,
                        "y": 3102.547119140625,
                        "z": 351.73895263671875
                    },
                    "rotation": {
                        "roll": 0.0023247050121426582,
                        "pitch": 2.787700653076172,
                        "yaw": -1.2083739042282104
                    }
                },
                "velocity": {
                    "x": 8.057883262634277,
                    "y": -0.17379844188690186,
                    "z": 0.3979560136795044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.915224552154541,
                "transform": {
                    "location": {
                        "x": -1186.7984619140625,
                        "y": 3099.0224609375,
                        "z": 351.79364013671875
                    },
                    "rotation": {
                        "roll": 0.0025782575830817223,
                        "pitch": 2.8143930435180664,
                        "yaw": -1.241119384765625
                    }
                },
                "velocity": {
                    "x": 7.903829574584961,
                    "y": -0.17216059565544128,
                    "z": 0.3880937993526459
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.056495666503906,
                "transform": {
                    "location": {
                        "x": -1187.877685546875,
                        "y": 3095.543701171875,
                        "z": 351.7503356933594
                    },
                    "rotation": {
                        "roll": 0.0051404316909611225,
                        "pitch": 2.850599765777588,
                        "yaw": -1.2299498319625854
                    }
                },
                "velocity": {
                    "x": 8.044917106628418,
                    "y": -0.17405195534229279,
                    "z": 0.3951525092124939
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1103.74853515625,
                        "y": 3076.06298828125,
                        "z": 355.0199890136719
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.3878173828125,
                        "y": 3076.94921875,
                        "z": 353.58233642578125
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1295.9942626953125,
                        "y": 3080.40576171875,
                        "z": 346.60357666015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 17.045955657958984,
                "transform": {
                    "location": {
                        "x": -1258.456787109375,
                        "y": 3079.51953125,
                        "z": 348.1580810546875
                    },
                    "rotation": {
                        "roll": 0.001154138706624508,
                        "pitch": -2.70312237739563,
                        "yaw": 178.7181396484375
                    }
                },
                "velocity": {
                    "x": -17.022781372070312,
                    "y": 0.38211292028427124,
                    "z": -0.8022211194038391
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.46369171142578,
                "transform": {
                    "location": {
                        "x": -1176.013916015625,
                        "y": 3077.677978515625,
                        "z": 352.3202209472656
                    },
                    "rotation": {
                        "roll": -0.00021362316329032183,
                        "pitch": -2.5794618129730225,
                        "yaw": 178.72496032714844
                    }
                },
                "velocity": {
                    "x": -16.443737030029297,
                    "y": 0.3666817247867584,
                    "z": -0.7226457595825195
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9999028444290161,
        "expert_target_speed": 20.0,
        "target_point": [
            21.090986367580847,
            -0.8023294856114876
        ],
        "target_point_next": [
            72.03504796173414,
            -4.158756964496481
        ]
    },
    "255": {
        "acceleration": [
            -1.0033035278320312,
            -0.8773040771484375,
            -0.01703500747680664
        ],
        "angular_velocity": [
            2.296661376953125,
            0.07270284742116928,
            -1.0971072912216187
        ],
        "forward_vector": [
            -0.9976547360420227,
            -0.04613228514790535,
            -0.05056571960449219
        ],
        "right_vector": [
            0.045177266001701355,
            -0.9987813830375671,
            0.019870249554514885
        ],
        "location": [
            -1226.1265869140625,
            3078.96240234375,
            349.7240295410156
        ],
        "rotation": [
            -1.140014886856079,
            -2.8984384536743164,
            -177.3524932861328
        ],
        "velocity": [
            -29.694381713867188,
            -1.1791757345199585,
            -1.5538095235824585
        ],
        "speed": 29.71778526037448,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 36.63468933105469,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1262.712890625,
                3079.614990234375,
                347.95849609375
            ],
            "velocity": [
                -17.023231506347656,
                0.3809173107147217,
                -0.7754356265068054
            ],
            "speed_kmh": 61.36250523634173,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.750535488128662,
                "transform": {
                    "location": {
                        "x": -1269.1785888671875,
                        "y": 3107.6416015625,
                        "z": 347.5992431640625
                    },
                    "rotation": {
                        "roll": 0.11715889722108841,
                        "pitch": 2.480499267578125,
                        "yaw": 0.9430510997772217
                    }
                },
                "velocity": {
                    "x": 6.743672847747803,
                    "y": 0.12383189797401428,
                    "z": 0.27797818183898926
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.996089458465576,
                "transform": {
                    "location": {
                        "x": -1268.655517578125,
                        "y": 3104.29052734375,
                        "z": 347.6326599121094
                    },
                    "rotation": {
                        "roll": 0.02378183603286743,
                        "pitch": 2.5198001861572266,
                        "yaw": -0.5968322157859802
                    }
                },
                "velocity": {
                    "x": 7.9861626625061035,
                    "y": -0.09637919068336487,
                    "z": 0.3864789605140686
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.99609375,
                "transform": {
                    "location": {
                        "x": -1268.733642578125,
                        "y": 3100.79150390625,
                        "z": 347.6325988769531
                    },
                    "rotation": {
                        "roll": 0.024302812293171883,
                        "pitch": 2.5199708938598633,
                        "yaw": -0.5963743925094604
                    }
                },
                "velocity": {
                    "x": 7.986147403717041,
                    "y": -0.09636014699935913,
                    "z": 0.3868871331214905
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.869899749755859,
                "transform": {
                    "location": {
                        "x": -1268.8873291015625,
                        "y": 3097.295654296875,
                        "z": 347.6257019042969
                    },
                    "rotation": {
                        "roll": 0.029304858297109604,
                        "pitch": 2.5305302143096924,
                        "yaw": -0.5972898006439209
                    }
                },
                "velocity": {
                    "x": 7.861812114715576,
                    "y": -0.09333492815494537,
                    "z": 0.3442702293395996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1060.755615234375,
                        "y": 3075.103271484375,
                        "z": 356.14459228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.369057655334473,
                "transform": {
                    "location": {
                        "x": -1229.164306640625,
                        "y": 3106.94873046875,
                        "z": 349.5330810546875
                    },
                    "rotation": {
                        "roll": 0.020319629460573196,
                        "pitch": 2.960845947265625,
                        "yaw": -0.9104309678077698
                    }
                },
                "velocity": {
                    "x": 7.3584184646606445,
                    "y": -0.12435150891542435,
                    "z": 0.37579405307769775
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.854580879211426,
                "transform": {
                    "location": {
                        "x": -1227.821044921875,
                        "y": 3103.426513671875,
                        "z": 349.6087951660156
                    },
                    "rotation": {
                        "roll": 0.012293694540858269,
                        "pitch": 2.9529364109039307,
                        "yaw": -1.066619873046875
                    }
                },
                "velocity": {
                    "x": 7.842427730560303,
                    "y": -0.1525188535451889,
                    "z": 0.4092760384082794
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.474655151367188,
                "transform": {
                    "location": {
                        "x": -1229.1658935546875,
                        "y": 3099.94970703125,
                        "z": 349.54974365234375
                    },
                    "rotation": {
                        "roll": 0.02450256235897541,
                        "pitch": 3.3056132793426514,
                        "yaw": -0.9046629667282104
                    }
                },
                "velocity": {
                    "x": 8.462320327758789,
                    "y": -0.14480970799922943,
                    "z": 0.4335343837738037
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.4640474319458,
                "transform": {
                    "location": {
                        "x": -1229.0679931640625,
                        "y": 3096.447998046875,
                        "z": 349.5593566894531
                    },
                    "rotation": {
                        "roll": 0.013580892235040665,
                        "pitch": 3.225153684616089,
                        "yaw": -1.0589295625686646
                    }
                },
                "velocity": {
                    "x": 8.451461791992188,
                    "y": -0.15343277156352997,
                    "z": 0.43512892723083496
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.5625,
                        "y": 3075.612548828125,
                        "z": 355.6345520019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987344741821289,
                "transform": {
                    "location": {
                        "x": -1185.802978515625,
                        "y": 3106.003173828125,
                        "z": 351.8326110839844
                    },
                    "rotation": {
                        "roll": 6.578316970262676e-05,
                        "pitch": 2.813347816467285,
                        "yaw": -1.2616881132125854
                    }
                },
                "velocity": {
                    "x": 7.976222515106201,
                    "y": -0.17487943172454834,
                    "z": 0.3833637237548828
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.932036399841309,
                "transform": {
                    "location": {
                        "x": -1186.0242919921875,
                        "y": 3102.50390625,
                        "z": 351.8367004394531
                    },
                    "rotation": {
                        "roll": 0.0009680918301455677,
                        "pitch": 2.808922052383423,
                        "yaw": -1.2363587617874146
                    }
                },
                "velocity": {
                    "x": 7.920653343200684,
                    "y": -0.17343799769878387,
                    "z": 0.3877829611301422
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.032416343688965,
                "transform": {
                    "location": {
                        "x": -1184.806640625,
                        "y": 3098.978759765625,
                        "z": 351.8901062011719
                    },
                    "rotation": {
                        "roll": 0.00026058577350340784,
                        "pitch": 2.7567803859710693,
                        "yaw": -1.2573851346969604
                    }
                },
                "velocity": {
                    "x": 8.021452903747559,
                    "y": -0.17624028027057648,
                    "z": 0.38071539998054504
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.015172958374023,
                "transform": {
                    "location": {
                        "x": -1185.86865234375,
                        "y": 3095.49951171875,
                        "z": 351.8486633300781
                    },
                    "rotation": {
                        "roll": 0.003293379908427596,
                        "pitch": 2.8207449913024902,
                        "yaw": -1.24993896484375
                    }
                },
                "velocity": {
                    "x": 8.00398063659668,
                    "y": -0.17559877038002014,
                    "z": 0.38530775904655457
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1107.8607177734375,
                        "y": 3076.1552734375,
                        "z": 354.87603759765625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.5001220703125,
                        "y": 3077.040771484375,
                        "z": 353.4322204589844
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1300.23974609375,
                        "y": 3080.544921875,
                        "z": 346.4617919921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 17.04513931274414,
                "transform": {
                    "location": {
                        "x": -1262.712890625,
                        "y": 3079.614990234375,
                        "z": 347.95849609375
                    },
                    "rotation": {
                        "roll": -0.0007629366591572762,
                        "pitch": -2.6679673194885254,
                        "yaw": 178.7178192138672
                    }
                },
                "velocity": {
                    "x": -17.023231506347656,
                    "y": 0.3809173107147217,
                    "z": -0.7754356265068054
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.467058181762695,
                "transform": {
                    "location": {
                        "x": -1180.124267578125,
                        "y": 3077.76953125,
                        "z": 352.13525390625
                    },
                    "rotation": {
                        "roll": -0.001739500556141138,
                        "pitch": -2.6530706882476807,
                        "yaw": 178.72679138183594
                    }
                },
                "velocity": {
                    "x": -16.445547103881836,
                    "y": 0.3657178282737732,
                    "z": -0.7577950954437256
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9989058375358582,
        "expert_target_speed": 20.0,
        "target_point": [
            13.691346937509673,
            -0.7748521442875824
        ],
        "target_point_next": [
            64.62514089738046,
            -4.283648231740928
        ]
    },
    "260": {
        "acceleration": [
            -0.346527099609375,
            1.2765312194824219,
            0.10318994522094727
        ],
        "angular_velocity": [
            3.1228160858154297,
            -0.06835408508777618,
            -5.077214241027832
        ],
        "forward_vector": [
            -0.9982433319091797,
            -0.032543860375881195,
            -0.04950811341404915
        ],
        "right_vector": [
            0.032190073281526566,
            -0.9994503259658813,
            0.007926936261355877
        ],
        "location": [
            -1233.5743408203125,
            3078.673095703125,
            349.34027099609375
        ],
        "rotation": [
            -0.45474234223365784,
            -2.83776593208313,
            -178.13275146484375
        ],
        "velocity": [
            -29.8444766998291,
            -1.0742722749710083,
            -1.513824701309204
        ],
        "speed": 29.86380502225752,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 33.4480094909668,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1266.96923828125,
                3079.710205078125,
                347.7671813964844
            ],
            "velocity": [
                -17.021554946899414,
                0.3800465166568756,
                -0.7524749636650085
            ],
            "speed_kmh": 61.35270220699018,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1308.304443359375,
                        "y": 3105.3720703125,
                        "z": 346.33734130859375
                    },
                    "rotation": {
                        "roll": 3.336817044896634e-09,
                        "pitch": 1.863234519958496,
                        "yaw": -2.213104248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1308.45263671875,
                        "y": 3101.875244140625,
                        "z": 346.3377990722656
                    },
                    "rotation": {
                        "roll": 3.336817044896634e-09,
                        "pitch": 1.863234519958496,
                        "yaw": -2.213104248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1308.600830078125,
                        "y": 3098.378662109375,
                        "z": 346.3382263183594
                    },
                    "rotation": {
                        "roll": 3.336817044896634e-09,
                        "pitch": 1.863234519958496,
                        "yaw": -2.213104248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.559286117553711,
                "transform": {
                    "location": {
                        "x": -1267.649169921875,
                        "y": 3107.65185546875,
                        "z": 347.66473388671875
                    },
                    "rotation": {
                        "roll": 0.11714152991771698,
                        "pitch": 2.476728916168213,
                        "yaw": 0.4205676317214966
                    }
                },
                "velocity": {
                    "x": 5.553947448730469,
                    "y": 0.0013409960083663464,
                    "z": 0.2435740828514099
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.655317783355713,
                "transform": {
                    "location": {
                        "x": -1266.7027587890625,
                        "y": 3104.264892578125,
                        "z": 347.72576904296875
                    },
                    "rotation": {
                        "roll": 0.044427402317523956,
                        "pitch": 2.571702718734741,
                        "yaw": -0.7397154569625854
                    }
                },
                "velocity": {
                    "x": 7.646235942840576,
                    "y": -0.11234331130981445,
                    "z": 0.3554524779319763
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.655208587646484,
                "transform": {
                    "location": {
                        "x": -1266.7808837890625,
                        "y": 3100.765869140625,
                        "z": 347.7257995605469
                    },
                    "rotation": {
                        "roll": 0.045241016894578934,
                        "pitch": 2.571866512298584,
                        "yaw": -0.7398070693016052
                    }
                },
                "velocity": {
                    "x": 7.646145343780518,
                    "y": -0.11233364790678024,
                    "z": 0.3550526201725006
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.442495346069336,
                "transform": {
                    "location": {
                        "x": -1266.9722900390625,
                        "y": 3097.2705078125,
                        "z": 347.7108459472656
                    },
                    "rotation": {
                        "roll": 0.024496357887983322,
                        "pitch": 2.549531936645508,
                        "yaw": -0.758697509765625
                    }
                },
                "velocity": {
                    "x": 7.434152603149414,
                    "y": -0.11170155555009842,
                    "z": 0.33411741256713867
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1064.896728515625,
                        "y": 3075.19580078125,
                        "z": 356.06549072265625
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.303107261657715,
                "transform": {
                    "location": {
                        "x": -1227.236083984375,
                        "y": 3106.914306640625,
                        "z": 349.6328430175781
                    },
                    "rotation": {
                        "roll": 0.012904549017548561,
                        "pitch": 3.0105628967285156,
                        "yaw": -1.0556944608688354
                    }
                },
                "velocity": {
                    "x": 8.290284156799316,
                    "y": -0.1602647751569748,
                    "z": 0.43254926800727844
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.869448184967041,
                "transform": {
                    "location": {
                        "x": -1225.8502197265625,
                        "y": 3103.3876953125,
                        "z": 349.7110900878906
                    },
                    "rotation": {
                        "roll": 0.006926851347088814,
                        "pitch": 3.0233216285705566,
                        "yaw": -1.149658203125
                    }
                },
                "velocity": {
                    "x": 7.856998920440674,
                    "y": -0.16047035157680511,
                    "z": 0.4123470187187195
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.263190269470215,
                "transform": {
                    "location": {
                        "x": -1227.06005859375,
                        "y": 3099.911865234375,
                        "z": 349.6611328125
                    },
                    "rotation": {
                        "roll": 0.02370389550924301,
                        "pitch": 3.0358071327209473,
                        "yaw": -1.075744867324829
                    }
                },
                "velocity": {
                    "x": 8.250383377075195,
                    "y": -0.16147036850452423,
                    "z": 0.4305967688560486
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.186628341674805,
                "transform": {
                    "location": {
                        "x": -1226.9765625,
                        "y": 3096.407958984375,
                        "z": 349.66961669921875
                    },
                    "rotation": {
                        "roll": 0.017159631475806236,
                        "pitch": 3.036961555480957,
                        "yaw": -1.110412359237671
                    }
                },
                "velocity": {
                    "x": 8.173864364624023,
                    "y": -0.16279229521751404,
                    "z": 0.42699599266052246
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1087.703125,
                        "y": 3075.704833984375,
                        "z": 355.5212707519531
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.967248916625977,
                "transform": {
                    "location": {
                        "x": -1183.8096923828125,
                        "y": 3105.958740234375,
                        "z": 351.9284362792969
                    },
                    "rotation": {
                        "roll": 0.0015113046392798424,
                        "pitch": 2.7148361206054688,
                        "yaw": -1.27716064453125
                    }
                },
                "velocity": {
                    "x": 7.956234455108643,
                    "y": -0.17774789035320282,
                    "z": 0.37920501828193665
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.041383743286133,
                "transform": {
                    "location": {
                        "x": -1184.0303955078125,
                        "y": 3102.4609375,
                        "z": 351.9324645996094
                    },
                    "rotation": {
                        "roll": 0.002644861815497279,
                        "pitch": 2.7137365341186523,
                        "yaw": -1.2394715547561646
                    }
                },
                "velocity": {
                    "x": 8.030529022216797,
                    "y": -0.1737433224916458,
                    "z": 0.37983542680740356
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.998327255249023,
                "transform": {
                    "location": {
                        "x": -1182.804931640625,
                        "y": 3098.9345703125,
                        "z": 351.9856872558594
                    },
                    "rotation": {
                        "roll": -0.00018310733139514923,
                        "pitch": 2.6759519577026367,
                        "yaw": -1.2653199434280396
                    }
                },
                "velocity": {
                    "x": 7.987579345703125,
                    "y": -0.1763809472322464,
                    "z": 0.3751056492328644
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.001120567321777,
                "transform": {
                    "location": {
                        "x": -1183.87353515625,
                        "y": 3095.455810546875,
                        "z": 351.9443664550781
                    },
                    "rotation": {
                        "roll": 0.0034912065602838993,
                        "pitch": 2.725224733352661,
                        "yaw": -1.2573853731155396
                    }
                },
                "velocity": {
                    "x": 7.989930629730225,
                    "y": -0.17620204389095306,
                    "z": 0.38456991314888
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1112.0003662109375,
                        "y": 3076.248046875,
                        "z": 354.726318359375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.6131591796875,
                        "y": 3077.1328125,
                        "z": 353.28216552734375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.4847412109375,
                        "y": 3080.69921875,
                        "z": 346.3215637207031
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 17.042417526245117,
                "transform": {
                    "location": {
                        "x": -1266.96923828125,
                        "y": 3079.710205078125,
                        "z": 347.7671813964844
                    },
                    "rotation": {
                        "roll": -0.0004882836365140975,
                        "pitch": -2.537346839904785,
                        "yaw": 178.7215576171875
                    }
                },
                "velocity": {
                    "x": -17.021554946899414,
                    "y": 0.3800465166568756,
                    "z": -0.7524749636650085
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.469989776611328,
                "transform": {
                    "location": {
                        "x": -1184.235107421875,
                        "y": 3077.861572265625,
                        "z": 351.9432373046875
                    },
                    "rotation": {
                        "roll": 0.0003360327100381255,
                        "pitch": -2.7476210594177246,
                        "yaw": 178.71278381347656
                    }
                },
                "velocity": {
                    "x": -16.44732666015625,
                    "y": 0.36740976572036743,
                    "z": -0.7816778421401978
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9998475313186646,
        "expert_target_speed": 20.0,
        "target_point": [
            57.224257236528466,
            -3.4496605187365748
        ],
        "target_point_next": [
            108.09829433077908,
            -7.563854112022373
        ]
    },
    "265": {
        "acceleration": [
            -0.5078506469726562,
            3.1492738723754883,
            0.28246641159057617
        ],
        "angular_velocity": [
            3.2831599712371826,
            0.35366588830947876,
            -8.501700401306152
        ],
        "forward_vector": [
            -0.9988110661506653,
            -0.0016794812399894,
            -0.04871965944766998
        ],
        "right_vector": [
            0.001971630146726966,
            -0.9999803304672241,
            -0.005949094891548157
        ],
        "location": [
            -1241.046630859375,
            3078.47314453125,
            348.9642639160156
        ],
        "rotation": [
            0.34126532077789307,
            -2.7925362586975098,
            -179.90365600585938
        ],
        "velocity": [
            -29.93824577331543,
            -0.470976859331131,
            -1.4802777767181396
        ],
        "speed": 29.94195015668593,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 30.23338508605957,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1271.218994140625,
                3079.804931640625,
                347.5813903808594
            ],
            "velocity": [
                -16.867982864379883,
                0.3780125081539154,
                -0.7143831253051758
            ],
            "speed_kmh": 60.79440591652288,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3814,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.1578369140625,
                        "y": 3074.68798828125,
                        "z": 356.47760009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1306.2230224609375,
                        "y": 3105.287841796875,
                        "z": 346.3204650878906
                    },
                    "rotation": {
                        "roll": 3.336817044896634e-09,
                        "pitch": 1.863234519958496,
                        "yaw": -2.213104248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1306.371337890625,
                        "y": 3101.790771484375,
                        "z": 346.32073974609375
                    },
                    "rotation": {
                        "roll": 3.336817044896634e-09,
                        "pitch": 1.863234519958496,
                        "yaw": -2.213104248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1306.519287109375,
                        "y": 3098.294189453125,
                        "z": 346.32098388671875
                    },
                    "rotation": {
                        "roll": 3.336817044896634e-09,
                        "pitch": 1.863234519958496,
                        "yaw": -2.213104248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.676265239715576,
                "transform": {
                    "location": {
                        "x": -1266.281005859375,
                        "y": 3107.653076171875,
                        "z": 347.7246398925781
                    },
                    "rotation": {
                        "roll": 0.11039678752422333,
                        "pitch": 2.544074535369873,
                        "yaw": 0.160123810172081
                    }
                },
                "velocity": {
                    "x": 5.670714378356934,
                    "y": -0.0034859557636082172,
                    "z": 0.2509498596191406
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.363487720489502,
                "transform": {
                    "location": {
                        "x": -1264.8489990234375,
                        "y": 3104.236083984375,
                        "z": 347.81048583984375
                    },
                    "rotation": {
                        "roll": 0.032611243426799774,
                        "pitch": 2.3757376670837402,
                        "yaw": -0.7350462675094604
                    }
                },
                "velocity": {
                    "x": 6.3565592765808105,
                    "y": -0.1039569079875946,
                    "z": 0.27807262539863586
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.659836769104004,
                "transform": {
                    "location": {
                        "x": -1264.9210205078125,
                        "y": 3100.73828125,
                        "z": 347.81060791015625
                    },
                    "rotation": {
                        "roll": 0.026090407744050026,
                        "pitch": 2.3939812183380127,
                        "yaw": -0.879119873046875
                    }
                },
                "velocity": {
                    "x": 6.652607440948486,
                    "y": -0.10604085773229599,
                    "z": 0.29154133796691895
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.815479278564453,
                "transform": {
                    "location": {
                        "x": -1265.097900390625,
                        "y": 3097.2421875,
                        "z": 347.79449462890625
                    },
                    "rotation": {
                        "roll": 0.01878318004310131,
                        "pitch": 2.551847219467163,
                        "yaw": -0.8977662324905396
                    }
                },
                "velocity": {
                    "x": 7.806704998016357,
                    "y": -0.12792080640792847,
                    "z": 0.3474363684654236
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1069.038330078125,
                        "y": 3075.288330078125,
                        "z": 355.9811096191406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.411636352539062,
                "transform": {
                    "location": {
                        "x": -1225.1004638671875,
                        "y": 3106.873046875,
                        "z": 349.74432373046875
                    },
                    "rotation": {
                        "roll": 0.006147607229650021,
                        "pitch": 3.039454460144043,
                        "yaw": -1.17938232421875
                    }
                },
                "velocity": {
                    "x": 8.398242950439453,
                    "y": -0.16974227130413055,
                    "z": 0.4430866241455078
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.356948852539062,
                "transform": {
                    "location": {
                        "x": -1223.781494140625,
                        "y": 3103.34521484375,
                        "z": 349.8200988769531
                    },
                    "rotation": {
                        "roll": 0.005654875189065933,
                        "pitch": 3.0256574153900146,
                        "yaw": -1.1885679960250854
                    }
                },
                "velocity": {
                    "x": 8.343505859375,
                    "y": -0.17555411159992218,
                    "z": 0.44010305404663086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.838318824768066,
                "transform": {
                    "location": {
                        "x": -1225.06103515625,
                        "y": 3099.8720703125,
                        "z": 349.76690673828125
                    },
                    "rotation": {
                        "roll": 0.011963588185608387,
                        "pitch": 2.908738374710083,
                        "yaw": -1.1751708984375
                    }
                },
                "velocity": {
                    "x": 7.825798988342285,
                    "y": -0.16110065579414368,
                    "z": 0.4124967157840729
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.87055778503418,
                "transform": {
                    "location": {
                        "x": -1224.9833984375,
                        "y": 3096.3681640625,
                        "z": 349.77490234375
                    },
                    "rotation": {
                        "roll": 0.010251613333821297,
                        "pitch": 2.9302194118499756,
                        "yaw": -1.165557622909546
                    }
                },
                "velocity": {
                    "x": 7.857976913452148,
                    "y": -0.16156145930290222,
                    "z": 0.4144528806209564
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1091.8443603515625,
                        "y": 3075.7978515625,
                        "z": 355.40277099609375
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.964855670928955,
                "transform": {
                    "location": {
                        "x": -1181.821533203125,
                        "y": 3105.91455078125,
                        "z": 352.02252197265625
                    },
                    "rotation": {
                        "roll": -0.00030517688719555736,
                        "pitch": 2.6769354343414307,
                        "yaw": -1.2807005643844604
                    }
                },
                "velocity": {
                    "x": 7.954209804534912,
                    "y": -0.17626607418060303,
                    "z": 0.3720233738422394
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9716105461120605,
                "transform": {
                    "location": {
                        "x": -1182.0311279296875,
                        "y": 3102.416748046875,
                        "z": 352.02728271484375
                    },
                    "rotation": {
                        "roll": -0.0005188005743548274,
                        "pitch": 2.662271022796631,
                        "yaw": -1.2628172636032104
                    }
                },
                "velocity": {
                    "x": 7.960935115814209,
                    "y": -0.17808863520622253,
                    "z": 0.3719821870326996
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.011863708496094,
                "transform": {
                    "location": {
                        "x": -1180.8065185546875,
                        "y": 3098.89013671875,
                        "z": 352.0791320800781
                    },
                    "rotation": {
                        "roll": 0.0009237388730980456,
                        "pitch": 2.683540105819702,
                        "yaw": -1.2718812227249146
                    }
                },
                "velocity": {
                    "x": 8.00122356414795,
                    "y": -0.1777254045009613,
                    "z": 0.3725506365299225
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034773826599121,
                "transform": {
                    "location": {
                        "x": -1181.8699951171875,
                        "y": 3095.411865234375,
                        "z": 352.03900146484375
                    },
                    "rotation": {
                        "roll": 0.0009133319254033267,
                        "pitch": 2.7100002765655518,
                        "yaw": -1.2617186307907104
                    }
                },
                "velocity": {
                    "x": 8.024023056030273,
                    "y": -0.1781037449836731,
                    "z": 0.3753993809223175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.1405029296875,
                        "y": 3076.34033203125,
                        "z": 354.5755920410156
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.72705078125,
                        "y": 3077.224609375,
                        "z": 353.13201904296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 16.543794631958008,
                "transform": {
                    "location": {
                        "x": -1308.661865234375,
                        "y": 3080.865234375,
                        "z": 346.18841552734375
                    },
                    "rotation": {
                        "roll": 0.02146237902343273,
                        "pitch": -1.6385759115219116,
                        "yaw": 177.54441833496094
                    }
                },
                "velocity": {
                    "x": -16.521907806396484,
                    "y": 0.6781652569770813,
                    "z": -0.5135778784751892
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.8873348236084,
                "transform": {
                    "location": {
                        "x": -1271.218994140625,
                        "y": 3079.804931640625,
                        "z": 347.5813903808594
                    },
                    "rotation": {
                        "roll": 0.0004310673102736473,
                        "pitch": -2.464017868041992,
                        "yaw": 178.71932983398438
                    }
                },
                "velocity": {
                    "x": -16.867982864379883,
                    "y": 0.3780125081539154,
                    "z": -0.7143831253051758
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.473739624023438,
                "transform": {
                    "location": {
                        "x": -1188.345947265625,
                        "y": 3077.953369140625,
                        "z": 351.7438659667969
                    },
                    "rotation": {
                        "roll": 0.00043495005229488015,
                        "pitch": -2.8800652027130127,
                        "yaw": 178.7261505126953
                    }
                },
                "velocity": {
                    "x": -16.449552536010742,
                    "y": 0.36785319447517395,
                    "z": -0.8130505084991455
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0013867616653442,
        "expert_target_speed": 20.0,
        "target_point": [
            49.83091576821388,
            -1.8669884236191654
        ],
        "target_point_next": [
            100.80779622346836,
            -4.407047131781981
        ]
    },
    "270": {
        "acceleration": [
            -0.6304931640625,
            4.151811599731445,
            0.06657600402832031
        ],
        "angular_velocity": [
            2.40903377532959,
            0.3929392993450165,
            -8.81523323059082
        ],
        "forward_vector": [
            -0.9981473684310913,
            0.037305865436792374,
            -0.04806322976946831
        ],
        "right_vector": [
            -0.036471933126449585,
            -0.9991704821586609,
            -0.01811269111931324
        ],
        "location": [
            -1248.549560546875,
            3078.469970703125,
            348.59588623046875
        ],
        "rotation": [
            1.0390385389328003,
            -2.7548816204071045,
            177.85955810546875
        ],
        "velocity": [
            -30.08293914794922,
            0.4683825671672821,
            -1.4690066576004028
        ],
        "speed": 30.086585216811194,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 26.906784057617188,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1275.39208984375,
                3079.8984375,
                347.4071350097656
            ],
            "velocity": [
                -16.618186950683594,
                0.371473491191864,
                -0.6884536743164062
            ],
            "speed_kmh": 59.89172093981725,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3814,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.273193359375,
                        "y": 3074.779541015625,
                        "z": 356.387451171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.825021743774414,
                "transform": {
                    "location": {
                        "x": -1304.2100830078125,
                        "y": 3105.2236328125,
                        "z": 346.3143005371094
                    },
                    "rotation": {
                        "roll": 0.03623633086681366,
                        "pitch": 1.8982938528060913,
                        "yaw": -1.740967035293579
                    }
                },
                "velocity": {
                    "x": 7.822235584259033,
                    "y": -0.1737869530916214,
                    "z": 0.11573430895805359
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.110873222351074,
                "transform": {
                    "location": {
                        "x": -1304.3511962890625,
                        "y": 3101.7197265625,
                        "z": 346.2971496582031
                    },
                    "rotation": {
                        "roll": 0.0020743582863360643,
                        "pitch": 1.8366104364395142,
                        "yaw": -1.860565185546875
                    }
                },
                "velocity": {
                    "x": 8.106337547302246,
                    "y": -0.2206338793039322,
                    "z": 0.15773722529411316
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.935242652893066,
                "transform": {
                    "location": {
                        "x": -1304.494384765625,
                        "y": 3098.227783203125,
                        "z": 346.3006896972656
                    },
                    "rotation": {
                        "roll": -0.056945785880088806,
                        "pitch": 1.8230730295181274,
                        "yaw": -1.77178955078125
                    }
                },
                "velocity": {
                    "x": 7.932366847991943,
                    "y": -0.2057275027036667,
                    "z": 0.05752447992563248
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.010421276092529,
                "transform": {
                    "location": {
                        "x": -1264.767578125,
                        "y": 3107.653076171875,
                        "z": 347.7914123535156
                    },
                    "rotation": {
                        "roll": 0.09042482078075409,
                        "pitch": 2.6224305629730225,
                        "yaw": 0.013237128034234047
                    }
                },
                "velocity": {
                    "x": 7.003421306610107,
                    "y": -0.008194789290428162,
                    "z": 0.31309235095977783
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.409246921539307,
                "transform": {
                    "location": {
                        "x": -1263.4132080078125,
                        "y": 3104.21337890625,
                        "z": 347.874755859375
                    },
                    "rotation": {
                        "roll": 0.02787826769053936,
                        "pitch": 2.226832866668701,
                        "yaw": -0.8305358290672302
                    }
                },
                "velocity": {
                    "x": 5.402845859527588,
                    "y": -0.09805839508771896,
                    "z": 0.24412144720554352
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.603489875793457,
                "transform": {
                    "location": {
                        "x": -1263.42236328125,
                        "y": 3100.713623046875,
                        "z": 347.877685546875
                    },
                    "rotation": {
                        "roll": 0.023155074566602707,
                        "pitch": 2.2615575790405273,
                        "yaw": -0.9779970049858093
                    }
                },
                "velocity": {
                    "x": 5.59682035446167,
                    "y": -0.10247930139303207,
                    "z": 0.25337859988212585
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.296232223510742,
                "transform": {
                    "location": {
                        "x": -1263.049072265625,
                        "y": 3097.20751953125,
                        "z": 347.8861999511719
                    },
                    "rotation": {
                        "roll": 0.013595717027783394,
                        "pitch": 2.5946383476257324,
                        "yaw": -1.0091856718063354
                    }
                },
                "velocity": {
                    "x": 8.285999298095703,
                    "y": -0.15477964282035828,
                    "z": 0.3817475736141205
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1073.18017578125,
                        "y": 3075.380615234375,
                        "z": 355.8910827636719
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9667816162109375,
                "transform": {
                    "location": {
                        "x": -1223.0626220703125,
                        "y": 3106.83154296875,
                        "z": 349.8521423339844
                    },
                    "rotation": {
                        "roll": 0.003121625632047653,
                        "pitch": 3.0069632530212402,
                        "yaw": -1.228454351425171
                    }
                },
                "velocity": {
                    "x": 7.953941345214844,
                    "y": -0.1675793081521988,
                    "z": 0.41992971301078796
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9876885414123535,
                "transform": {
                    "location": {
                        "x": -1221.744873046875,
                        "y": 3103.302001953125,
                        "z": 349.9275207519531
                    },
                    "rotation": {
                        "roll": 0.0032820035703480244,
                        "pitch": 3.0107951164245605,
                        "yaw": -1.225585699081421
                    }
                },
                "velocity": {
                    "x": 7.974758148193359,
                    "y": -0.17166636884212494,
                    "z": 0.42063459753990173
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.043939590454102,
                "transform": {
                    "location": {
                        "x": -1223.086669921875,
                        "y": 3099.831298828125,
                        "z": 349.8699951171875
                    },
                    "rotation": {
                        "roll": 0.008121581748127937,
                        "pitch": 3.0511205196380615,
                        "yaw": -1.2196348905563354
                    }
                },
                "velocity": {
                    "x": 8.030916213989258,
                    "y": -0.17256447672843933,
                    "z": 0.42377379536628723
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.037835121154785,
                "transform": {
                    "location": {
                        "x": -1223.004150390625,
                        "y": 3096.3271484375,
                        "z": 349.8783874511719
                    },
                    "rotation": {
                        "roll": 0.008598129265010357,
                        "pitch": 3.059405565261841,
                        "yaw": -1.2013550996780396
                    }
                },
                "velocity": {
                    "x": 8.024852752685547,
                    "y": -0.17058400809764862,
                    "z": 0.42359617352485657
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1095.985595703125,
                        "y": 3075.889892578125,
                        "z": 355.27569580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1179.8031005859375,
                        "y": 3105.8095703125,
                        "z": 352.12139892578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.6210849285125732,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.0206298828125,
                        "y": 3102.335205078125,
                        "z": 352.1199035644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.6210849285125732,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1178.7938232421875,
                        "y": 3098.8369140625,
                        "z": 352.17156982421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4990909099578857,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.010869979858398,
                "transform": {
                    "location": {
                        "x": -1179.86767578125,
                        "y": 3095.367431640625,
                        "z": 352.1316833496094
                    },
                    "rotation": {
                        "roll": 0.001436137710697949,
                        "pitch": 2.6604745388031006,
                        "yaw": -1.270232915878296
                    }
                },
                "velocity": {
                    "x": 8.000561714172363,
                    "y": -0.1782475858926773,
                    "z": 0.36507299542427063
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.2813720703125,
                        "y": 3076.432373046875,
                        "z": 354.4245910644531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.8416748046875,
                        "y": 3077.31640625,
                        "z": 352.9814758300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 16.558666229248047,
                "transform": {
                    "location": {
                        "x": -1312.79541015625,
                        "y": 3081.042236328125,
                        "z": 346.06988525390625
                    },
                    "rotation": {
                        "roll": 0.005474523175507784,
                        "pitch": -1.4859280586242676,
                        "yaw": 177.42230224609375
                    }
                },
                "velocity": {
                    "x": -16.536272048950195,
                    "y": 0.7448670864105225,
                    "z": -0.4316052794456482
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.63658905029297,
                "transform": {
                    "location": {
                        "x": -1275.39208984375,
                        "y": 3079.8984375,
                        "z": 347.4071350097656
                    },
                    "rotation": {
                        "roll": 0.0004551218880806118,
                        "pitch": -2.4046294689178467,
                        "yaw": 178.71937561035156
                    }
                },
                "velocity": {
                    "x": -16.618186950683594,
                    "y": 0.371473491191864,
                    "z": -0.6884536743164062
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.47723960876465,
                "transform": {
                    "location": {
                        "x": -1192.45751953125,
                        "y": 3078.045166015625,
                        "z": 351.5373229980469
                    },
                    "rotation": {
                        "roll": -0.00018310672021470964,
                        "pitch": -2.9889793395996094,
                        "yaw": 178.7187042236328
                    }
                },
                "velocity": {
                    "x": -16.45175552368164,
                    "y": 0.3662656843662262,
                    "z": -0.8396646976470947
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9992433786392212,
        "expert_target_speed": 20.0,
        "target_point": [
            42.368238992648074,
            -0.20410349489320567
        ],
        "target_point_next": [
            93.405415129147,
            -0.7526390016796345
        ]
    },
    "275": {
        "acceleration": [
            -0.5673599243164062,
            4.528157711029053,
            0.18988609313964844
        ],
        "angular_velocity": [
            1.5730003118515015,
            0.6236457228660583,
            -8.831441879272461
        ],
        "forward_vector": [
            -0.9960073828697205,
            0.07609093189239502,
            -0.046683620661497116
        ],
        "right_vector": [
            -0.07490159571170807,
            -0.9968328475952148,
            -0.026720335707068443
        ],
        "location": [
            -1256.0919189453125,
            3078.724609375,
            348.23040771484375
        ],
        "rotation": [
            1.5328162908554077,
            -2.6757469177246094,
            175.63131713867188
        ],
        "velocity": [
            -30.24164390563965,
            1.574427604675293,
            -1.4489011764526367
        ],
        "speed": 30.282599762865065,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 23.50913429260254,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1279.5458984375,
                3079.9912109375,
                347.23748779296875
            ],
            "velocity": [
                -16.607412338256836,
                0.37030091881752014,
                -0.658316969871521
            ],
            "speed_kmh": 59.848486744004944,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3814,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.4425048828125,
                        "y": 3074.872802734375,
                        "z": 356.3249816894531
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9521708488464355,
                "transform": {
                    "location": {
                        "x": -1302.2379150390625,
                        "y": 3105.173095703125,
                        "z": 346.3681640625
                    },
                    "rotation": {
                        "roll": 0.023292887955904007,
                        "pitch": 1.9260449409484863,
                        "yaw": -1.5197447538375854
                    }
                },
                "velocity": {
                    "x": 7.944990158081055,
                    "y": -0.2107827365398407,
                    "z": 0.2640519142150879
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.813239574432373,
                "transform": {
                    "location": {
                        "x": -1302.3642578125,
                        "y": 3101.66357421875,
                        "z": 346.357177734375
                    },
                    "rotation": {
                        "roll": 0.018496930599212646,
                        "pitch": 1.9043453931808472,
                        "yaw": -1.4179075956344604
                    }
                },
                "velocity": {
                    "x": 7.806013584136963,
                    "y": -0.2016010880470276,
                    "z": 0.26874813437461853
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08380126953125,
                "transform": {
                    "location": {
                        "x": -1302.4915771484375,
                        "y": 3098.17333984375,
                        "z": 346.3565673828125
                    },
                    "rotation": {
                        "roll": 0.011506549082696438,
                        "pitch": 1.8918803930282593,
                        "yaw": -1.460754632949829
                    }
                },
                "velocity": {
                    "x": 8.074678421020508,
                    "y": -0.2079629898071289,
                    "z": 0.32274580001831055
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.426298141479492,
                "transform": {
                    "location": {
                        "x": -1262.786865234375,
                        "y": 3107.643310546875,
                        "z": 347.8802185058594
                    },
                    "rotation": {
                        "roll": 0.06854821741580963,
                        "pitch": 2.6929521560668945,
                        "yaw": -0.3396911025047302
                    }
                },
                "velocity": {
                    "x": 8.416952133178711,
                    "y": -0.09595048427581787,
                    "z": 0.3849824368953705
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.430648326873779,
                "transform": {
                    "location": {
                        "x": -1262.00341796875,
                        "y": 3104.18798828125,
                        "z": 347.935546875
                    },
                    "rotation": {
                        "roll": 0.021675417199730873,
                        "pitch": 2.781423568725586,
                        "yaw": -0.9985962510108948
                    }
                },
                "velocity": {
                    "x": 6.422463417053223,
                    "y": -0.12455664575099945,
                    "z": 0.29948553442955017
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.1901655197143555,
                "transform": {
                    "location": {
                        "x": -1261.9969482421875,
                        "y": 3100.6875,
                        "z": 347.9400634765625
                    },
                    "rotation": {
                        "roll": 0.016209376975893974,
                        "pitch": 2.704843521118164,
                        "yaw": -1.0607298612594604
                    }
                },
                "velocity": {
                    "x": 6.1822710037231445,
                    "y": -0.11998490244150162,
                    "z": 0.288579523563385
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.888765811920166,
                "transform": {
                    "location": {
                        "x": -1261.033447265625,
                        "y": 3097.169189453125,
                        "z": 347.9789123535156
                    },
                    "rotation": {
                        "roll": 0.007829521782696247,
                        "pitch": 2.7000625133514404,
                        "yaw": -1.1172484159469604
                    }
                },
                "velocity": {
                    "x": 7.878745079040527,
                    "y": -0.15665368735790253,
                    "z": 0.36532461643218994
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1077.32275390625,
                        "y": 3075.47314453125,
                        "z": 355.7945556640625
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.851412773132324,
                "transform": {
                    "location": {
                        "x": -1221.09619140625,
                        "y": 3106.7900390625,
                        "z": 349.9556579589844
                    },
                    "rotation": {
                        "roll": 0.002507477533072233,
                        "pitch": 3.0101325511932373,
                        "yaw": -1.247955322265625
                    }
                },
                "velocity": {
                    "x": 7.838769912719727,
                    "y": -0.16900058090686798,
                    "z": 0.4120834171772003
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.934157848358154,
                "transform": {
                    "location": {
                        "x": -1219.7647705078125,
                        "y": 3103.25927734375,
                        "z": 350.03173828125
                    },
                    "rotation": {
                        "roll": 0.002782403025776148,
                        "pitch": 3.0132811069488525,
                        "yaw": -1.242706298828125
                    }
                },
                "velocity": {
                    "x": 7.921341419219971,
                    "y": -0.1717316061258316,
                    "z": 0.4167967140674591
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.1097993850708,
                "transform": {
                    "location": {
                        "x": -1221.0601806640625,
                        "y": 3099.787353515625,
                        "z": 349.9764099121094
                    },
                    "rotation": {
                        "roll": 0.004757117945700884,
                        "pitch": 3.1001203060150146,
                        "yaw": -1.245269775390625
                    }
                },
                "velocity": {
                    "x": 8.09666633605957,
                    "y": -0.17586202919483185,
                    "z": 0.4265129864215851
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.125923156738281,
                "transform": {
                    "location": {
                        "x": -1220.9774169921875,
                        "y": 3096.283935546875,
                        "z": 349.9849548339844
                    },
                    "rotation": {
                        "roll": 0.004889249801635742,
                        "pitch": 3.0907559394836426,
                        "yaw": -1.23388671875
                    }
                },
                "velocity": {
                    "x": 8.112804412841797,
                    "y": -0.17567774653434753,
                    "z": 0.4268221855163574
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.127685546875,
                        "y": 3075.982666015625,
                        "z": 355.1423034667969
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3799,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1177.9422607421875,
                        "y": 3102.245361328125,
                        "z": 352.2126770019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4990909099578857,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3798,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1176.71435546875,
                        "y": 3098.7470703125,
                        "z": 352.267333984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4990909099578857,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3797,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1177.7879638671875,
                        "y": 3095.287353515625,
                        "z": 352.2254333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4990909099578857,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1124.4229736328125,
                        "y": 3076.525634765625,
                        "z": 354.27362060546875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.98291015625,
                        "y": 3077.408935546875,
                        "z": 352.8230285644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 16.566560745239258,
                "transform": {
                    "location": {
                        "x": -1316.9315185546875,
                        "y": 3081.234375,
                        "z": 345.96728515625
                    },
                    "rotation": {
                        "roll": 0.004429150838404894,
                        "pitch": -1.3303568363189697,
                        "yaw": 177.17092895507812
                    }
                },
                "velocity": {
                    "x": -16.54246711730957,
                    "y": 0.8097370862960815,
                    "z": -0.3768569231033325
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.62458038330078,
                "transform": {
                    "location": {
                        "x": -1279.5458984375,
                        "y": 3079.9912109375,
                        "z": 347.23748779296875
                    },
                    "rotation": {
                        "roll": 0.01729457825422287,
                        "pitch": -2.2708396911621094,
                        "yaw": 178.71974182128906
                    }
                },
                "velocity": {
                    "x": -16.607412338256836,
                    "y": 0.37030091881752014,
                    "z": -0.658316969871521
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.4805908203125,
                "transform": {
                    "location": {
                        "x": -1196.5699462890625,
                        "y": 3078.13720703125,
                        "z": 351.3233642578125
                    },
                    "rotation": {
                        "roll": 0.002036149613559246,
                        "pitch": -3.062403917312622,
                        "yaw": 178.71470642089844
                    }
                },
                "velocity": {
                    "x": -16.453256607055664,
                    "y": 0.37027111649513245,
                    "z": -0.873551607131958
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9999631643295288,
        "expert_target_speed": 20.0,
        "target_point": [
            34.804297956984406,
            1.122700038446743
        ],
        "target_point_next": [
            85.82421116003906,
            2.55890891705463
        ]
    },
    "280": {
        "acceleration": [
            -0.2666473388671875,
            2.3572778701782227,
            0.45228004455566406
        ],
        "angular_velocity": [
            -1.1553434133529663,
            1.3413485288619995,
            -0.5999265909194946
        ],
        "forward_vector": [
            -0.9947465062141418,
            0.09192828088998795,
            -0.04503907263278961
        ],
        "right_vector": [
            -0.09087418764829636,
            -0.9955504536628723,
            -0.024921881034970284
        ],
        "location": [
            -1263.6612548828125,
            3079.216064453125,
            347.8738708496094
        ],
        "rotation": [
            1.429517388343811,
            -2.5814220905303955,
            174.72007751464844
        ],
        "velocity": [
            -30.292755126953125,
            2.313607931137085,
            -1.3915296792984009
        ],
        "speed": 30.38097751621177,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.075719833374023,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1283.7022705078125,
                3080.085205078125,
                347.07586669921875
            ],
            "velocity": [
                -16.64930534362793,
                0.38522326946258545,
                -0.6408795714378357
            ],
            "speed_kmh": 59.99791710176629,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1340.959716796875,
                        "y": 3100.190185546875,
                        "z": 345.9991760253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4717884659767151,
                        "yaw": -3.9932873249053955
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3814,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.5601806640625,
                        "y": 3074.96484375,
                        "z": 356.2571105957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.634692192077637,
                "transform": {
                    "location": {
                        "x": -1300.292724609375,
                        "y": 3105.12158203125,
                        "z": 346.43426513671875
                    },
                    "rotation": {
                        "roll": 0.015144173987209797,
                        "pitch": 1.9505653381347656,
                        "yaw": -1.5147093534469604
                    }
                },
                "velocity": {
                    "x": 7.627537727355957,
                    "y": -0.2000817209482193,
                    "z": 0.2629906237125397
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.915365695953369,
                "transform": {
                    "location": {
                        "x": -1300.3992919921875,
                        "y": 3101.613037109375,
                        "z": 346.42413330078125
                    },
                    "rotation": {
                        "roll": 0.022639548406004906,
                        "pitch": 1.9450055360794067,
                        "yaw": -1.3116453886032104
                    }
                },
                "velocity": {
                    "x": 7.908286094665527,
                    "y": -0.19711099565029144,
                    "z": 0.27050262689590454
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.771202564239502,
                "transform": {
                    "location": {
                        "x": -1300.5133056640625,
                        "y": 3098.122314453125,
                        "z": 346.43597412109375
                    },
                    "rotation": {
                        "roll": 0.02331121638417244,
                        "pitch": 1.9459139108657837,
                        "yaw": -1.44073486328125
                    }
                },
                "velocity": {
                    "x": 7.763002872467041,
                    "y": -0.19923757016658783,
                    "z": 0.29610300064086914
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.910951614379883,
                "transform": {
                    "location": {
                        "x": -1260.7366943359375,
                        "y": 3107.62060546875,
                        "z": 347.9754943847656
                    },
                    "rotation": {
                        "roll": 0.05327802896499634,
                        "pitch": 2.6947622299194336,
                        "yaw": -0.6874388456344604
                    }
                },
                "velocity": {
                    "x": 7.901599407196045,
                    "y": -0.10308095812797546,
                    "z": 0.37048330903053284
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.452300071716309,
                "transform": {
                    "location": {
                        "x": -1260.190673828125,
                        "y": 3104.153076171875,
                        "z": 348.0167236328125
                    },
                    "rotation": {
                        "roll": 0.013518298044800758,
                        "pitch": 3.161045551300049,
                        "yaw": -1.02734375
                    }
                },
                "velocity": {
                    "x": 7.442695617675781,
                    "y": -0.14629653096199036,
                    "z": 0.34879255294799805
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.613702297210693,
                "transform": {
                    "location": {
                        "x": -1260.2059326171875,
                        "y": 3100.65185546875,
                        "z": 348.0196533203125
                    },
                    "rotation": {
                        "roll": 0.015464209020137787,
                        "pitch": 3.171461582183838,
                        "yaw": -0.9803771376609802
                    }
                },
                "velocity": {
                    "x": 7.603891849517822,
                    "y": -0.1491609662771225,
                    "z": 0.35643523931503296
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.997376918792725,
                "transform": {
                    "location": {
                        "x": -1259.05322265625,
                        "y": 3097.129638671875,
                        "z": 348.07232666015625
                    },
                    "rotation": {
                        "roll": 0.005397055298089981,
                        "pitch": 2.7139482498168945,
                        "yaw": -1.160980224609375
                    }
                },
                "velocity": {
                    "x": 7.986723899841309,
                    "y": -0.16431064903736115,
                    "z": 0.37852272391319275
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1081.43994140625,
                        "y": 3075.565185546875,
                        "z": 355.69146728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.920823574066162,
                "transform": {
                    "location": {
                        "x": -1219.1292724609375,
                        "y": 3106.7470703125,
                        "z": 350.0591735839844
                    },
                    "rotation": {
                        "roll": 0.0018140921602025628,
                        "pitch": 3.023144006729126,
                        "yaw": -1.255889892578125
                    }
                },
                "velocity": {
                    "x": 7.907719135284424,
                    "y": -0.17303213477134705,
                    "z": 0.42128485441207886
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.982457160949707,
                "transform": {
                    "location": {
                        "x": -1217.7779541015625,
                        "y": 3103.216064453125,
                        "z": 350.1374206542969
                    },
                    "rotation": {
                        "roll": 0.0008846476557664573,
                        "pitch": 3.068974494934082,
                        "yaw": -1.251220464706421
                    }
                },
                "velocity": {
                    "x": 7.968968868255615,
                    "y": -0.17559796571731567,
                    "z": 0.4293282926082611
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.00265884399414,
                "transform": {
                    "location": {
                        "x": -1219.0516357421875,
                        "y": 3099.74365234375,
                        "z": 350.0830078125
                    },
                    "rotation": {
                        "roll": 0.0019293440273031592,
                        "pitch": 3.0224609375,
                        "yaw": -1.256500244140625
                    }
                },
                "velocity": {
                    "x": 7.98944091796875,
                    "y": -0.17508889734745026,
                    "z": 0.42512625455856323
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.968723773956299,
                "transform": {
                    "location": {
                        "x": -1218.9716796875,
                        "y": 3096.240234375,
                        "z": 350.09136962890625
                    },
                    "rotation": {
                        "roll": 0.0025006921496242285,
                        "pitch": 3.0249197483062744,
                        "yaw": -1.2498170137405396
                    }
                },
                "velocity": {
                    "x": 7.955483913421631,
                    "y": -0.1744825839996338,
                    "z": 0.4247243404388428
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1104.244140625,
                        "y": 3076.07470703125,
                        "z": 355.0035095214844
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.565185546875,
                        "y": 3076.61767578125,
                        "z": 354.12255859375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.0987548828125,
                        "y": 3077.501220703125,
                        "z": 352.6586608886719
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 16.567140579223633,
                "transform": {
                    "location": {
                        "x": -1321.0682373046875,
                        "y": 3081.4423828125,
                        "z": 345.8772277832031
                    },
                    "rotation": {
                        "roll": 0.0056345234625041485,
                        "pitch": -1.1535369157791138,
                        "yaw": 176.94952392578125
                    }
                },
                "velocity": {
                    "x": -16.540977478027344,
                    "y": 0.8714070916175842,
                    "z": -0.3269197642803192
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.666088104248047,
                "transform": {
                    "location": {
                        "x": -1283.7022705078125,
                        "y": 3080.085205078125,
                        "z": 347.07586669921875
                    },
                    "rotation": {
                        "roll": 0.019568556919693947,
                        "pitch": -2.2183496952056885,
                        "yaw": 178.67959594726562
                    }
                },
                "velocity": {
                    "x": -16.64930534362793,
                    "y": 0.38522326946258545,
                    "z": -0.6408795714378357
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.483478546142578,
                "transform": {
                    "location": {
                        "x": -1200.6827392578125,
                        "y": 3078.22900390625,
                        "z": 351.1024475097656
                    },
                    "rotation": {
                        "roll": -0.00296020763926208,
                        "pitch": -3.153839588165283,
                        "yaw": 178.727783203125
                    }
                },
                "velocity": {
                    "x": -16.455059051513672,
                    "y": 0.366203248500824,
                    "z": -0.8955297470092773
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0001400709152222,
        "expert_target_speed": 20.0,
        "target_point": [
            27.199597932023824,
            1.4688905429479242
        ],
        "target_point_next": [
            78.19021846353131,
            3.7163017207315834
        ]
    },
    "285": {
        "acceleration": [
            -0.9490203857421875,
            2.2175216674804688,
            0.41274547576904297
        ],
        "angular_velocity": [
            -0.2957896888256073,
            1.508247971534729,
            -3.861598014831543
        ],
        "forward_vector": [
            -0.9946722388267517,
            0.09427635371685028,
            -0.04170256853103638
        ],
        "right_vector": [
            -0.09355722367763519,
            -0.9954348802566528,
            -0.0188764575868845
        ],
        "location": [
            -1271.259765625,
            3079.8486328125,
            347.5359802246094
        ],
        "rotation": [
            1.0825475454330444,
            -2.3900742530822754,
            174.58560180664062
        ],
        "velocity": [
            -30.493680953979492,
            2.773961067199707,
            -1.3107786178588867
        ],
        "speed": 30.619592389929547,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 16.58665657043457,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1287.8316650390625,
                3080.183349609375,
                346.9217529296875
            ],
            "velocity": [
                -16.18976402282715,
                0.4105108976364136,
                -0.5841707587242126
            ],
            "speed_kmh": 58.33980039289494,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1340.6358642578125,
                        "y": 3107.185791015625,
                        "z": 345.8031921386719
                    },
                    "rotation": {
                        "roll": -1.6675831826518106e-09,
                        "pitch": 0.4717884659767151,
                        "yaw": -3.905580520629883
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1340.8828125,
                        "y": 3103.694580078125,
                        "z": 345.8036193847656
                    },
                    "rotation": {
                        "roll": -1.6675831826518106e-09,
                        "pitch": 0.4717884659767151,
                        "yaw": -3.905580520629883
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1338.914794921875,
                        "y": 3100.04931640625,
                        "z": 345.66766357421875
                    },
                    "rotation": {
                        "roll": -1.6675831826518106e-09,
                        "pitch": 0.4717884659767151,
                        "yaw": -3.905580520629883
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3814,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.7039794921875,
                        "y": 3075.057373046875,
                        "z": 356.1829528808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.5061421394348145,
                "transform": {
                    "location": {
                        "x": -1298.4581298828125,
                        "y": 3105.07275390625,
                        "z": 346.49615478515625
                    },
                    "rotation": {
                        "roll": 0.012186149135231972,
                        "pitch": 2.0497190952301025,
                        "yaw": -1.5243531465530396
                    }
                },
                "velocity": {
                    "x": 6.4999589920043945,
                    "y": -0.17745406925678253,
                    "z": 0.2211938053369522
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.6176676750183105,
                "transform": {
                    "location": {
                        "x": -1298.4609375,
                        "y": 3101.565185546875,
                        "z": 346.4901428222656
                    },
                    "rotation": {
                        "roll": 0.01713641919195652,
                        "pitch": 1.9348490238189697,
                        "yaw": -1.362274169921875
                    }
                },
                "velocity": {
                    "x": 7.610833168029785,
                    "y": -0.19308200478553772,
                    "z": 0.2584487795829773
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.904720306396484,
                "transform": {
                    "location": {
                        "x": -1298.55517578125,
                        "y": 3098.07177734375,
                        "z": 346.5043640136719
                    },
                    "rotation": {
                        "roll": 0.018829168751835823,
                        "pitch": 1.9368160963058472,
                        "yaw": -1.4786376953125
                    }
                },
                "velocity": {
                    "x": 7.897675037384033,
                    "y": -0.2091531753540039,
                    "z": 0.25997018814086914
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.977046012878418,
                "transform": {
                    "location": {
                        "x": -1258.77587890625,
                        "y": 3107.5947265625,
                        "z": 348.06787109375
                    },
                    "rotation": {
                        "roll": 0.04490957036614418,
                        "pitch": 2.7198972702026367,
                        "yaw": -0.7991332411766052
                    }
                },
                "velocity": {
                    "x": 7.96700382232666,
                    "y": -0.1321089118719101,
                    "z": 0.3777087330818176
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.605117797851562,
                "transform": {
                    "location": {
                        "x": -1258.1263427734375,
                        "y": 3104.111572265625,
                        "z": 348.1155700683594
                    },
                    "rotation": {
                        "roll": 0.016061538830399513,
                        "pitch": 3.011293649673462,
                        "yaw": -1.0121153593063354
                    }
                },
                "velocity": {
                    "x": 8.59363842010498,
                    "y": -0.1759028434753418,
                    "z": 0.4080258905887604
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.639808654785156,
                "transform": {
                    "location": {
                        "x": -1258.170166015625,
                        "y": 3100.612060546875,
                        "z": 348.1171875
                    },
                    "rotation": {
                        "roll": 0.015153109095990658,
                        "pitch": 3.021033525466919,
                        "yaw": -1.077178955078125
                    }
                },
                "velocity": {
                    "x": 8.628315925598145,
                    "y": -0.17591163516044617,
                    "z": 0.40926826000213623
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.398520469665527,
                "transform": {
                    "location": {
                        "x": -1257.00341796875,
                        "y": 3097.0869140625,
                        "z": 348.16925048828125
                    },
                    "rotation": {
                        "roll": 0.0033703013323247433,
                        "pitch": 2.7145423889160156,
                        "yaw": -1.2094422578811646
                    }
                },
                "velocity": {
                    "x": 8.387251853942871,
                    "y": -0.17883814871311188,
                    "z": 0.3964419364929199
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1085.5833740234375,
                        "y": 3075.65771484375,
                        "z": 355.5807189941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000226020812988,
                "transform": {
                    "location": {
                        "x": -1217.1387939453125,
                        "y": 3106.703369140625,
                        "z": 350.16552734375
                    },
                    "rotation": {
                        "roll": 0.0011336891911923885,
                        "pitch": 3.090489625930786,
                        "yaw": -1.269866943359375
                    }
                },
                "velocity": {
                    "x": 7.9866814613342285,
                    "y": -0.1777397245168686,
                    "z": 0.43006432056427
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.028047561645508,
                "transform": {
                    "location": {
                        "x": -1215.777587890625,
                        "y": 3103.171875,
                        "z": 350.244873046875
                    },
                    "rotation": {
                        "roll": 4.8259647883241996e-05,
                        "pitch": 3.11852765083313,
                        "yaw": -1.272735595703125
                    }
                },
                "velocity": {
                    "x": 8.01424503326416,
                    "y": -0.17928875982761383,
                    "z": 0.4350564479827881
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.003371238708496,
                "transform": {
                    "location": {
                        "x": -1217.057373046875,
                        "y": 3099.69970703125,
                        "z": 350.18939208984375
                    },
                    "rotation": {
                        "roll": 0.001903638942167163,
                        "pitch": 3.103624105453491,
                        "yaw": -1.2626343965530396
                    }
                },
                "velocity": {
                    "x": 7.989809513092041,
                    "y": -0.17685312032699585,
                    "z": 0.4308425188064575
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.039945602416992,
                "transform": {
                    "location": {
                        "x": -1216.975830078125,
                        "y": 3096.196533203125,
                        "z": 350.197998046875
                    },
                    "rotation": {
                        "roll": 0.0019527800614014268,
                        "pitch": 3.1146481037139893,
                        "yaw": -1.2642515897750854
                    }
                },
                "velocity": {
                    "x": 8.026326179504395,
                    "y": -0.1770830899477005,
                    "z": 0.43296927213668823
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.38671875,
                        "y": 3076.16748046875,
                        "z": 354.8578186035156
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1132.6820068359375,
                        "y": 3076.709716796875,
                        "z": 353.9725036621094
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1172.2149658203125,
                        "y": 3077.593017578125,
                        "z": 352.48736572265625
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 14.361719131469727,
                "transform": {
                    "location": {
                        "x": -1324.809326171875,
                        "y": 3081.643310546875,
                        "z": 345.8075256347656
                    },
                    "rotation": {
                        "roll": 0.005598961375653744,
                        "pitch": -1.0395206212997437,
                        "yaw": 176.755615234375
                    }
                },
                "velocity": {
                    "x": -14.337432861328125,
                    "y": 0.800194501876831,
                    "z": -0.23809829354286194
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.20549964904785,
                "transform": {
                    "location": {
                        "x": -1287.8316650390625,
                        "y": 3080.183349609375,
                        "z": 346.9217529296875
                    },
                    "rotation": {
                        "roll": 0.009523273445665836,
                        "pitch": -2.0991833209991455,
                        "yaw": 178.56869506835938
                    }
                },
                "velocity": {
                    "x": -16.18976402282715,
                    "y": 0.4105108976364136,
                    "z": -0.5841707587242126
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.485475540161133,
                "transform": {
                    "location": {
                        "x": -1204.7960205078125,
                        "y": 3078.32080078125,
                        "z": 350.8768005371094
                    },
                    "rotation": {
                        "roll": 0.0009119706810452044,
                        "pitch": -3.2140135765075684,
                        "yaw": 178.71961975097656
                    }
                },
                "velocity": {
                    "x": -16.456247329711914,
                    "y": 0.3674914538860321,
                    "z": -0.9098296761512756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9995976090431213,
        "expert_target_speed": 20.0,
        "target_point": [
            19.571778965747885,
            1.44548915714841
        ],
        "target_point_next": [
            70.55698440730201,
            3.8125686388601467
        ]
    },
    "290": {
        "acceleration": [
            -0.4747772216796875,
            3.502063751220703,
            0.41873931884765625
        ],
        "angular_velocity": [
            1.778186559677124,
            1.0812262296676636,
            -9.828726768493652
        ],
        "forward_vector": [
            -0.9911044836044312,
            0.12746575474739075,
            -0.03826553747057915
        ],
        "right_vector": [
            -0.12671777606010437,
            -0.9917082786560059,
            -0.02138465642929077
        ],
        "location": [
            -1278.91552734375,
            3080.62060546875,
            347.2179870605469
        ],
        "rotation": [
            1.226242184638977,
            -2.1929891109466553,
            172.6714324951172
        ],
        "velocity": [
            -30.700700759887695,
            3.4838016033172607,
            -1.2328417301177979
        ],
        "speed": 30.897732938832984,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.865245819091797,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1291.76904296875,
                3080.286376953125,
                346.7821350097656
            ],
            "velocity": [
                -15.392725944519043,
                0.4379531145095825,
                -0.5330840945243835
            ],
            "speed_kmh": 55.46944597584291,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.27015495300293,
                "transform": {
                    "location": {
                        "x": -1338.698974609375,
                        "y": 3107.0546875,
                        "z": 345.63958740234375
                    },
                    "rotation": {
                        "roll": -0.015228274278342724,
                        "pitch": 0.36123502254486084,
                        "yaw": -3.747224807739258
                    }
                },
                "velocity": {
                    "x": 6.255890846252441,
                    "y": -0.338494211435318,
                    "z": -0.25317007303237915
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.4142961502075195,
                "transform": {
                    "location": {
                        "x": -1338.923583984375,
                        "y": 3103.564697265625,
                        "z": 345.63037109375
                    },
                    "rotation": {
                        "roll": 0.03155961632728577,
                        "pitch": 0.5749379992485046,
                        "yaw": -3.6713263988494873
                    }
                },
                "velocity": {
                    "x": 7.400691986083984,
                    "y": -0.3855690062046051,
                    "z": -0.22997228801250458
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.868729591369629,
                "transform": {
                    "location": {
                        "x": -1337.0703125,
                        "y": 3099.927978515625,
                        "z": 345.6541748046875
                    },
                    "rotation": {
                        "roll": -0.005004882346838713,
                        "pitch": 0.47108495235443115,
                        "yaw": -3.5649118423461914
                    }
                },
                "velocity": {
                    "x": 6.856112957000732,
                    "y": -0.41087672114372253,
                    "z": -0.06589764356613159
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3814,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1062.8485107421875,
                        "y": 3075.14990234375,
                        "z": 356.1051025390625
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.079665184020996,
                "transform": {
                    "location": {
                        "x": -1296.9140625,
                        "y": 3105.03076171875,
                        "z": 346.5490417480469
                    },
                    "rotation": {
                        "roll": 0.009687214158475399,
                        "pitch": 1.994715690612793,
                        "yaw": -1.547607421875
                    }
                },
                "velocity": {
                    "x": 6.07395076751709,
                    "y": -0.16435718536376953,
                    "z": 0.20599626004695892
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.664671421051025,
                "transform": {
                    "location": {
                        "x": -1296.679931640625,
                        "y": 3101.520263671875,
                        "z": 346.5509033203125
                    },
                    "rotation": {
                        "roll": 0.013394990935921669,
                        "pitch": 1.918360948562622,
                        "yaw": -1.462158203125
                    }
                },
                "velocity": {
                    "x": 6.658456325531006,
                    "y": -0.17410416901111603,
                    "z": 0.22911763191223145
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.9748125076293945,
                "transform": {
                    "location": {
                        "x": -1296.833740234375,
                        "y": 3098.025146484375,
                        "z": 346.5632629394531
                    },
                    "rotation": {
                        "roll": 0.018104899674654007,
                        "pitch": 1.5976767539978027,
                        "yaw": -1.423797607421875
                    }
                },
                "velocity": {
                    "x": 5.969336032867432,
                    "y": -0.16114749014377594,
                    "z": 0.19861681759357452
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.093576431274414,
                "transform": {
                    "location": {
                        "x": -1256.753173828125,
                        "y": 3107.560302734375,
                        "z": 348.1636962890625
                    },
                    "rotation": {
                        "roll": 0.02140858583152294,
                        "pitch": 2.7309622764587402,
                        "yaw": -0.99224853515625
                    }
                },
                "velocity": {
                    "x": 8.08314037322998,
                    "y": -0.14791695773601532,
                    "z": 0.38333335518836975
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.127866744995117,
                "transform": {
                    "location": {
                        "x": -1256.0439453125,
                        "y": 3104.0673828125,
                        "z": 348.2174987792969
                    },
                    "rotation": {
                        "roll": 0.016328461468219757,
                        "pitch": 2.625025987625122,
                        "yaw": -0.8636779189109802
                    }
                },
                "velocity": {
                    "x": 8.117006301879883,
                    "y": -0.16619528830051422,
                    "z": 0.3857736885547638
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.156907081604004,
                "transform": {
                    "location": {
                        "x": -1256.0771484375,
                        "y": 3100.5693359375,
                        "z": 348.2193298339844
                    },
                    "rotation": {
                        "roll": 0.01007871050387621,
                        "pitch": 2.656205892562866,
                        "yaw": -1.2005311250686646
                    }
                },
                "velocity": {
                    "x": 8.145838737487793,
                    "y": -0.17333759367465973,
                    "z": 0.38781166076660156
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045519828796387,
                "transform": {
                    "location": {
                        "x": -1254.9503173828125,
                        "y": 3097.04296875,
                        "z": 348.2670593261719
                    },
                    "rotation": {
                        "roll": 0.002359663601964712,
                        "pitch": 2.7351763248443604,
                        "yaw": -1.231536865234375
                    }
                },
                "velocity": {
                    "x": 8.034323692321777,
                    "y": -0.17348885536193848,
                    "z": 0.387216180562973
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1089.7274169921875,
                        "y": 3075.75048828125,
                        "z": 355.4637145996094
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.932596683502197,
                "transform": {
                    "location": {
                        "x": -1215.1502685546875,
                        "y": 3106.659423828125,
                        "z": 350.2727966308594
                    },
                    "rotation": {
                        "roll": 0.0010964841349050403,
                        "pitch": 3.1177420616149902,
                        "yaw": -1.2789305448532104
                    }
                },
                "velocity": {
                    "x": 7.918941497802734,
                    "y": -0.17694126069545746,
                    "z": 0.4302859306335449
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9707112312316895,
                "transform": {
                    "location": {
                        "x": -1213.78173828125,
                        "y": 3103.12744140625,
                        "z": 350.3533935546875
                    },
                    "rotation": {
                        "roll": -0.00036621122853830457,
                        "pitch": 3.1099419593811035,
                        "yaw": -1.2827759981155396
                    }
                },
                "velocity": {
                    "x": 7.956955432891846,
                    "y": -0.17736421525478363,
                    "z": 0.4331653416156769
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078104019165039,
                "transform": {
                    "location": {
                        "x": -1215.046875,
                        "y": 3099.6552734375,
                        "z": 350.2976989746094
                    },
                    "rotation": {
                        "roll": 0.002109140856191516,
                        "pitch": 3.1720831394195557,
                        "yaw": -1.271148681640625
                    }
                },
                "velocity": {
                    "x": 8.064210891723633,
                    "y": -0.17998793721199036,
                    "z": 0.4380350410938263
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.046000480651855,
                "transform": {
                    "location": {
                        "x": -1214.9654541015625,
                        "y": 3096.15185546875,
                        "z": 350.3063659667969
                    },
                    "rotation": {
                        "roll": 0.000699543219525367,
                        "pitch": 3.1689822673797607,
                        "yaw": -1.2741087675094604
                    }
                },
                "velocity": {
                    "x": 8.03210163116455,
                    "y": -0.17975635826587677,
                    "z": 0.43721792101860046
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1112.5299072265625,
                        "y": 3076.259521484375,
                        "z": 354.7073059082031
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.8250732421875,
                        "y": 3076.802001953125,
                        "z": 353.82135009765625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1176.3311767578125,
                        "y": 3077.684814453125,
                        "z": 352.3090515136719
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3768,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 15.156517028808594,
                "transform": {
                    "location": {
                        "x": -1328.47900390625,
                        "y": 3081.85400390625,
                        "z": 345.74822998046875
                    },
                    "rotation": {
                        "roll": 0.004508896265178919,
                        "pitch": -0.8401815295219421,
                        "yaw": 176.59213256835938
                    }
                },
                "velocity": {
                    "x": -15.128499031066895,
                    "y": 0.8965215086936951,
                    "z": -0.211544930934906
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.40817928314209,
                "transform": {
                    "location": {
                        "x": -1291.76904296875,
                        "y": 3080.286376953125,
                        "z": 346.7821350097656
                    },
                    "rotation": {
                        "roll": 0.02584296651184559,
                        "pitch": -2.0893547534942627,
                        "yaw": 178.39942932128906
                    }
                },
                "velocity": {
                    "x": -15.392725944519043,
                    "y": 0.4379531145095825,
                    "z": -0.5330840945243835
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.48528480529785,
                "transform": {
                    "location": {
                        "x": -1208.9105224609375,
                        "y": 3078.412841796875,
                        "z": 350.6495666503906
                    },
                    "rotation": {
                        "roll": -0.0018310489831492305,
                        "pitch": -3.196897268295288,
                        "yaw": 178.72055053710938
                    }
                },
                "velocity": {
                    "x": -16.456445693969727,
                    "y": 0.3661865293979645,
                    "z": -0.9032612442970276
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0013102293014526,
        "expert_target_speed": 20.0,
        "target_point": [
            11.820880950650574,
            1.8875342473435133
        ],
        "target_point_next": [
            62.698569592077135,
            5.956322481729091
        ]
    },
    "295": {
        "acceleration": [
            1.2906265258789062,
            3.3201026916503906,
            0.43874502182006836
        ],
        "angular_velocity": [
            0.6154285669326782,
            0.7977889180183411,
            -6.44187068939209
        ],
        "forward_vector": [
            -0.985275149345398,
            0.16707168519496918,
            -0.036330804228782654
        ],
        "right_vector": [
            -0.1661464273929596,
            -0.9857266545295715,
            -0.02716921642422676
        ],
        "location": [
            -1286.57373046875,
            3081.608154296875,
            346.92205810546875
        ],
        "rotation": [
            1.5579018592834473,
            -2.0820600986480713,
            170.3759765625
        ],
        "velocity": [
            -30.49693489074707,
            4.403477191925049,
            -1.1352897882461548
        ],
        "speed": 30.81320575841258,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 9.132906913757324,
        "front_vehicle_info": {
            "id": 3767,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1295.6221923828125,
                3080.3994140625,
                346.6495361328125
            ],
            "velocity": [
                -15.431868553161621,
                0.47231414914131165,
                -0.5178828835487366
            ],
            "speed_kmh": 55.6120014107278,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3818,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.8052978515625,
                        "y": 3074.724609375,
                        "z": 356.4413146972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.516354560852051,
                "transform": {
                    "location": {
                        "x": -1337.0968017578125,
                        "y": 3106.96533203125,
                        "z": 345.6318359375
                    },
                    "rotation": {
                        "roll": -0.0011901847319677472,
                        "pitch": 0.4405061900615692,
                        "yaw": -3.2626655101776123
                    }
                },
                "velocity": {
                    "x": 6.506621360778809,
                    "y": -0.35331976413726807,
                    "z": 0.04380475729703903
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.129286289215088,
                "transform": {
                    "location": {
                        "x": -1337.114013671875,
                        "y": 3103.464599609375,
                        "z": 345.6395568847656
                    },
                    "rotation": {
                        "roll": 0.007690003141760826,
                        "pitch": 0.49714213609695435,
                        "yaw": -3.2615058422088623
                    }
                },
                "velocity": {
                    "x": 7.1178412437438965,
                    "y": -0.3893929123878479,
                    "z": 0.10690707713365555
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.051886558532715,
                "transform": {
                    "location": {
                        "x": -1335.3316650390625,
                        "y": 3099.82763671875,
                        "z": 345.6550598144531
                    },
                    "rotation": {
                        "roll": -0.0018005340825766325,
                        "pitch": 0.537173867225647,
                        "yaw": -3.1736762523651123
                    }
                },
                "velocity": {
                    "x": 7.041920185089111,
                    "y": -0.37135544419288635,
                    "z": 0.05060996115207672
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3814,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1066.9930419921875,
                        "y": 3075.24267578125,
                        "z": 356.02447509765625
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.904801368713379,
                "transform": {
                    "location": {
                        "x": -1295.304931640625,
                        "y": 3104.987060546875,
                        "z": 346.6050720214844
                    },
                    "rotation": {
                        "roll": 0.017094237729907036,
                        "pitch": 1.9021803140640259,
                        "yaw": -1.5720826387405396
                    }
                },
                "velocity": {
                    "x": 6.898162841796875,
                    "y": -0.18786200881004333,
                    "z": 0.23736192286014557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.848602771759033,
                "transform": {
                    "location": {
                        "x": -1295.0145263671875,
                        "y": 3101.476806640625,
                        "z": 346.6078186035156
                    },
                    "rotation": {
                        "roll": 0.008239572867751122,
                        "pitch": 1.9858431816101074,
                        "yaw": -1.5256348848342896
                    }
                },
                "velocity": {
                    "x": 6.842107772827148,
                    "y": -0.18263955414295197,
                    "z": 0.2357264906167984
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.440670490264893,
                "transform": {
                    "location": {
                        "x": -1295.43017578125,
                        "y": 3097.987548828125,
                        "z": 346.6099548339844
                    },
                    "rotation": {
                        "roll": 0.010506823658943176,
                        "pitch": 1.7516019344329834,
                        "yaw": -1.441375732421875
                    }
                },
                "velocity": {
                    "x": 5.435434341430664,
                    "y": -0.14650289714336395,
                    "z": 0.18837870657444
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.973478317260742,
                "transform": {
                    "location": {
                        "x": -1254.7523193359375,
                        "y": 3107.523681640625,
                        "z": 348.25927734375
                    },
                    "rotation": {
                        "roll": 0.011701762676239014,
                        "pitch": 2.743652582168579,
                        "yaw": -1.061065435409546
                    }
                },
                "velocity": {
                    "x": 7.9627604484558105,
                    "y": -0.14920425415039062,
                    "z": 0.38540512323379517
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.806656837463379,
                "transform": {
                    "location": {
                        "x": -1254.0697021484375,
                        "y": 3104.026611328125,
                        "z": 348.3119201660156
                    },
                    "rotation": {
                        "roll": 0.025608325377106667,
                        "pitch": 2.658862829208374,
                        "yaw": -0.7951354384422302
                    }
                },
                "velocity": {
                    "x": 7.795884609222412,
                    "y": -0.16065149009227753,
                    "z": 0.3771747648715973
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.8195390701293945,
                "transform": {
                    "location": {
                        "x": -1254.0966796875,
                        "y": 3100.527099609375,
                        "z": 348.3144836425781
                    },
                    "rotation": {
                        "roll": 0.0044533307664096355,
                        "pitch": 2.647456407546997,
                        "yaw": -1.2550355195999146
                    }
                },
                "velocity": {
                    "x": 7.808587074279785,
                    "y": -0.17099852859973907,
                    "z": 0.3767220079898834
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.934469699859619,
                "transform": {
                    "location": {
                        "x": -1252.9625244140625,
                        "y": 3097.0,
                        "z": 348.3625183105469
                    },
                    "rotation": {
                        "roll": 0.0015412879874929786,
                        "pitch": 2.78790545463562,
                        "yaw": -1.252776861190796
                    }
                },
                "velocity": {
                    "x": 7.923220157623291,
                    "y": -0.17475533485412598,
                    "z": 0.3845139145851135
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1093.89697265625,
                        "y": 3075.843017578125,
                        "z": 355.3396301269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3805,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.099365234375,
                        "y": 3106.5302734375,
                        "z": 350.38916015625
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3804,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1211.7208251953125,
                        "y": 3103.040283203125,
                        "z": 350.4672546386719
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3803,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.995849609375,
                        "y": 3099.583984375,
                        "z": 350.4081115722656
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3802,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.9288330078125,
                        "y": 3096.087158203125,
                        "z": 350.4164733886719
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.7244873046875,
                        "y": 3076.353759765625,
                        "z": 354.5543212890625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.0194091796875,
                        "y": 3076.896484375,
                        "z": 353.6684265136719
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.5499267578125,
                        "y": 3077.779541015625,
                        "z": 352.11920166015625
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.44777774810791,
                "transform": {
                    "location": {
                        "x": -1295.6221923828125,
                        "y": 3080.3994140625,
                        "z": 346.6495361328125
                    },
                    "rotation": {
                        "roll": 0.01591011881828308,
                        "pitch": -1.9599294662475586,
                        "yaw": 178.23492431640625
                    }
                },
                "velocity": {
                    "x": -15.431868553161621,
                    "y": 0.47231414914131165,
                    "z": -0.5178828835487366
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.1531982421875,
                        "y": 3078.5078125,
                        "z": 350.42108154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0004962682724,
        "expert_target_speed": 20.0,
        "target_point": [
            54.69416941043111,
            8.156124905053314
        ],
        "target_point_next": [
            86.04671023392036,
            10.840016203378777
        ]
    },
    "300": {
        "acceleration": [
            0.4892730712890625,
            0.7545852661132812,
            0.3973531723022461
        ],
        "angular_velocity": [
            -2.579694986343384,
            0.7338780164718628,
            3.4750800132751465
        ],
        "forward_vector": [
            -0.9842130541801453,
            0.17362788319587708,
            -0.03432231396436691
        ],
        "right_vector": [
            -0.17290537059307098,
            -0.9846692681312561,
            -0.023026222363114357
        ],
        "location": [
            -1294.1611328125,
            3082.7890625,
            346.6520690917969
        ],
        "rotation": [
            1.320199966430664,
            -1.9669100046157837,
            169.99522399902344
        ],
        "velocity": [
            -30.24251365661621,
            4.929848670959473,
            -1.0308074951171875
        ],
        "speed": 30.641687946149098,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 95.88318634033203,
        "front_vehicle_info": {
            "id": 3777,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1389.726806640625,
                3090.5283203125,
                345.7084655761719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3818,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.0272216796875,
                        "y": 3074.818603515625,
                        "z": 356.36175537109375
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.244100093841553,
                "transform": {
                    "location": {
                        "x": -1335.5052490234375,
                        "y": 3106.878173828125,
                        "z": 345.64508056640625
                    },
                    "rotation": {
                        "roll": 0.004426321480423212,
                        "pitch": 0.506738543510437,
                        "yaw": -3.1360785961151123
                    }
                },
                "velocity": {
                    "x": 6.2347412109375,
                    "y": -0.3366338014602661,
                    "z": 0.05885867774486542
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.316959857940674,
                "transform": {
                    "location": {
                        "x": -1335.3099365234375,
                        "y": 3103.365478515625,
                        "z": 345.6629638671875
                    },
                    "rotation": {
                        "roll": 0.006874329410493374,
                        "pitch": 0.5272905826568604,
                        "yaw": -3.160034656524658
                    }
                },
                "velocity": {
                    "x": 7.305723667144775,
                    "y": -0.39727839827537537,
                    "z": 0.08043313771486282
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.797673225402832,
                "transform": {
                    "location": {
                        "x": -1333.60400390625,
                        "y": 3099.736572265625,
                        "z": 345.6706848144531
                    },
                    "rotation": {
                        "roll": 0.005346896592527628,
                        "pitch": 0.5732577443122864,
                        "yaw": -2.8683173656463623
                    }
                },
                "velocity": {
                    "x": 6.788524150848389,
                    "y": -0.3456164598464966,
                    "z": 0.0696243867278099
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3814,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.240478515625,
                        "y": 3075.33740234375,
                        "z": 355.93463134765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.204198837280273,
                "transform": {
                    "location": {
                        "x": -1293.4739990234375,
                        "y": 3104.9375,
                        "z": 346.6689758300781
                    },
                    "rotation": {
                        "roll": 0.019011134281754494,
                        "pitch": 1.8415144681930542,
                        "yaw": -1.5630189180374146
                    }
                },
                "velocity": {
                    "x": 8.196503639221191,
                    "y": -0.2125571221113205,
                    "z": 0.28465893864631653
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.609760284423828,
                "transform": {
                    "location": {
                        "x": -1293.190185546875,
                        "y": 3101.427978515625,
                        "z": 346.6706848144531
                    },
                    "rotation": {
                        "roll": 0.003033514367416501,
                        "pitch": 2.0258476734161377,
                        "yaw": -1.545867681503296
                    }
                },
                "velocity": {
                    "x": 7.602517604827881,
                    "y": -0.1995936930179596,
                    "z": 0.2652166187763214
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.91533088684082,
                "transform": {
                    "location": {
                        "x": -1293.8927001953125,
                        "y": 3097.9462890625,
                        "z": 346.65869140625
                    },
                    "rotation": {
                        "roll": 0.005966006312519312,
                        "pitch": 2.305441379547119,
                        "yaw": -1.4613343477249146
                    }
                },
                "velocity": {
                    "x": 6.908772945404053,
                    "y": -0.18272162973880768,
                    "z": 0.2393091768026352
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02703857421875,
                "transform": {
                    "location": {
                        "x": -1252.756103515625,
                        "y": 3107.4853515625,
                        "z": 348.35546875
                    },
                    "rotation": {
                        "roll": 0.009449844248592854,
                        "pitch": 2.797734022140503,
                        "yaw": -1.117584228515625
                    }
                },
                "velocity": {
                    "x": 8.015929222106934,
                    "y": -0.16347326338291168,
                    "z": 0.3892366588115692
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.157543182373047,
                "transform": {
                    "location": {
                        "x": -1252.0732421875,
                        "y": 3103.98486328125,
                        "z": 348.40673828125
                    },
                    "rotation": {
                        "roll": 0.02889068052172661,
                        "pitch": 2.881793260574341,
                        "yaw": -0.7608640789985657
                    }
                },
                "velocity": {
                    "x": 8.146187782287598,
                    "y": -0.16893760859966278,
                    "z": 0.395720899105072
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.111615180969238,
                "transform": {
                    "location": {
                        "x": -1252.1085205078125,
                        "y": 3100.483154296875,
                        "z": 348.4089050292969
                    },
                    "rotation": {
                        "roll": 0.0017067543230950832,
                        "pitch": 2.868494987487793,
                        "yaw": -1.2763060331344604
                    }
                },
                "velocity": {
                    "x": 8.100050926208496,
                    "y": -0.18016278743743896,
                    "z": 0.39371833205223083
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.975042819976807,
                "transform": {
                    "location": {
                        "x": -1250.977783203125,
                        "y": 3096.955810546875,
                        "z": 348.45916748046875
                    },
                    "rotation": {
                        "roll": -9.155217412626371e-05,
                        "pitch": 2.7877278327941895,
                        "yaw": -1.2675477266311646
                    }
                },
                "velocity": {
                    "x": 7.963647842407227,
                    "y": -0.17613932490348816,
                    "z": 0.38807111978530884
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1098.1434326171875,
                        "y": 3075.93798828125,
                        "z": 355.2066955566406
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.9700927734375,
                        "y": 3076.448486328125,
                        "z": 354.39947509765625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.2650146484375,
                        "y": 3076.9912109375,
                        "z": 353.51361083984375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.7938232421875,
                        "y": 3077.874267578125,
                        "z": 351.91998291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.928723335266113,
                "transform": {
                    "location": {
                        "x": -1299.374755859375,
                        "y": 3080.5205078125,
                        "z": 346.52532958984375
                    },
                    "rotation": {
                        "roll": 0.013771682046353817,
                        "pitch": -2.0285046100616455,
                        "yaw": 178.015625
                    }
                },
                "velocity": {
                    "x": -13.91318416595459,
                    "y": 0.4702674448490143,
                    "z": -0.45988988876342773
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1217.39599609375,
                        "y": 3078.6025390625,
                        "z": 350.1921691894531
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9975740313529968,
        "expert_target_speed": 20.0,
        "target_point": [
            46.961580731894486,
            8.364188336904238
        ],
        "target_point_next": [
            78.29559444365462,
            11.2563628304324
        ]
    },
    "305": {
        "acceleration": [
            -0.747528076171875,
            -3.2349395751953125,
            -0.01766800880432129
        ],
        "angular_velocity": [
            -5.000865459442139,
            0.8492857813835144,
            12.608563423156738
        ],
        "forward_vector": [
            -0.9904727935791016,
            0.13371221721172333,
            -0.032935261726379395
        ],
        "right_vector": [
            -0.13364377617835999,
            -0.9910202026367188,
            -0.004281105939298868
        ],
        "location": [
            -1301.72998046875,
            3083.984619140625,
            346.3995361328125
        ],
        "rotation": [
            0.24542319774627686,
            -1.8873928785324097,
            172.3116455078125
        ],
        "velocity": [
            -30.33890724182129,
            4.496773719787598,
            -0.9991130828857422
        ],
        "speed": 30.67034832724938,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 88.24250030517578,
        "front_vehicle_info": {
            "id": 3777,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1389.726806640625,
                3090.5283203125,
                345.7084655761719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3821,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1376.5562744140625,
                        "y": 3110.254638671875,
                        "z": 345.70965576171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3820,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1376.910400390625,
                        "y": 3106.7724609375,
                        "z": 345.7101745605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3819,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1377.2647705078125,
                        "y": 3103.29052734375,
                        "z": 345.7107238769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3818,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.2752685546875,
                        "y": 3074.9140625,
                        "z": 356.29644775390625
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.349152565002441,
                "transform": {
                    "location": {
                        "x": -1334.0810546875,
                        "y": 3106.80126953125,
                        "z": 345.6585388183594
                    },
                    "rotation": {
                        "roll": 0.0052068354561924934,
                        "pitch": 0.5191012024879456,
                        "yaw": -3.099212884902954
                    }
                },
                "velocity": {
                    "x": 5.341105937957764,
                    "y": -0.28902673721313477,
                    "z": 0.04986204952001572
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.693840503692627,
                "transform": {
                    "location": {
                        "x": -1333.536376953125,
                        "y": 3103.268798828125,
                        "z": 345.6800231933594
                    },
                    "rotation": {
                        "roll": 0.002062560059130192,
                        "pitch": 0.6089386343955994,
                        "yaw": -3.132995843887329
                    }
                },
                "velocity": {
                    "x": 6.683253765106201,
                    "y": -0.3705889880657196,
                    "z": 0.06543134897947311
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.3647918701171875,
                "transform": {
                    "location": {
                        "x": -1331.9234619140625,
                        "y": 3099.649658203125,
                        "z": 345.68988037109375
                    },
                    "rotation": {
                        "roll": 0.008833481930196285,
                        "pitch": 0.6377074122428894,
                        "yaw": -2.85345458984375
                    }
                },
                "velocity": {
                    "x": 6.355674743652344,
                    "y": -0.33144411444664,
                    "z": 0.07821298390626907
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3814,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.4879150390625,
                        "y": 3075.432373046875,
                        "z": 355.8375549316406
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.21044921875,
                "transform": {
                    "location": {
                        "x": -1291.3875732421875,
                        "y": 3104.88330078125,
                        "z": 346.7411193847656
                    },
                    "rotation": {
                        "roll": 0.00712632667273283,
                        "pitch": 1.977455735206604,
                        "yaw": -1.491424322128296
                    }
                },
                "velocity": {
                    "x": 8.20250129699707,
                    "y": -0.20975862443447113,
                    "z": 0.2940313220024109
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.668408393859863,
                "transform": {
                    "location": {
                        "x": -1291.157470703125,
                        "y": 3101.375,
                        "z": 346.7419128417969
                    },
                    "rotation": {
                        "roll": 0.0031108486000448465,
                        "pitch": 2.0532093048095703,
                        "yaw": -1.4915159940719604
                    }
                },
                "velocity": {
                    "x": 8.659961700439453,
                    "y": -0.22166210412979126,
                    "z": 0.3118402659893036
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.266682624816895,
                "transform": {
                    "location": {
                        "x": -1292.0020751953125,
                        "y": 3097.897705078125,
                        "z": 346.7240295410156
                    },
                    "rotation": {
                        "roll": -0.00012206635437905788,
                        "pitch": 2.359140396118164,
                        "yaw": -1.481415033340454
                    }
                },
                "velocity": {
                    "x": 8.258841514587402,
                    "y": -0.21255195140838623,
                    "z": 0.29050400853157043
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045989990234375,
                "transform": {
                    "location": {
                        "x": -1250.746337890625,
                        "y": 3107.4443359375,
                        "z": 348.4532470703125
                    },
                    "rotation": {
                        "roll": 0.006301539484411478,
                        "pitch": 2.791402578353882,
                        "yaw": -1.1769105195999146
                    }
                },
                "velocity": {
                    "x": 8.034748077392578,
                    "y": -0.1671941727399826,
                    "z": 0.3909236788749695
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.022940635681152,
                "transform": {
                    "location": {
                        "x": -1250.0474853515625,
                        "y": 3103.9423828125,
                        "z": 348.5057067871094
                    },
                    "rotation": {
                        "roll": 0.026534803211688995,
                        "pitch": 2.8383259773254395,
                        "yaw": -0.756866455078125
                    }
                },
                "velocity": {
                    "x": 8.011651039123535,
                    "y": -0.16923901438713074,
                    "z": 0.39035362005233765
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.085229873657227,
                "transform": {
                    "location": {
                        "x": -1250.078125,
                        "y": 3100.43798828125,
                        "z": 348.50787353515625
                    },
                    "rotation": {
                        "roll": 0.00016034150030463934,
                        "pitch": 2.854219675064087,
                        "yaw": -1.280944585800171
                    }
                },
                "velocity": {
                    "x": 8.073637962341309,
                    "y": -0.17975391447544098,
                    "z": 0.3936963677406311
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.037704467773438,
                "transform": {
                    "location": {
                        "x": -1248.9766845703125,
                        "y": 3096.911865234375,
                        "z": 348.5565185546875
                    },
                    "rotation": {
                        "roll": 0.00024899246636778116,
                        "pitch": 2.7856719493865967,
                        "yaw": -1.2689207792282104
                    }
                },
                "velocity": {
                    "x": 8.026263236999512,
                    "y": -0.17774677276611328,
                    "z": 0.39013656973838806
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1102.389892578125,
                        "y": 3076.033447265625,
                        "z": 355.0673828125
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1125.2159423828125,
                        "y": 3076.54345703125,
                        "z": 354.2447509765625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.5106201171875,
                        "y": 3077.086181640625,
                        "z": 353.3588562011719
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1189.03759765625,
                        "y": 3077.96923828125,
                        "z": 351.7125244140625
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.594103813171387,
                "transform": {
                    "location": {
                        "x": -1302.53173828125,
                        "y": 3080.631591796875,
                        "z": 346.4217529296875
                    },
                    "rotation": {
                        "roll": 0.019666466861963272,
                        "pitch": -2.1336281299591064,
                        "yaw": 177.7730255126953
                    }
                },
                "velocity": {
                    "x": -11.579642295837402,
                    "y": 0.43542540073394775,
                    "z": -0.38149991631507874
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1221.63916015625,
                        "y": 3078.69677734375,
                        "z": 349.96630859375
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9992115497589111,
        "expert_target_speed": 20.0,
        "target_point": [
            39.60051688086548,
            6.631470996862667
        ],
        "target_point_next": [
            71.0258223536495,
            8.254820784184325
        ]
    },
    "310": {
        "acceleration": [
            -0.6340789794921875,
            -4.824771881103516,
            0.4176008701324463
        ],
        "angular_velocity": [
            -3.4775962829589844,
            2.13456654548645,
            10.134641647338867
        ],
        "forward_vector": [
            -0.9961947202682495,
            0.08218138664960861,
            -0.029021715745329857
        ],
        "right_vector": [
            -0.0826520025730133,
            -0.996459424495697,
            0.01540460903197527
        ],
        "location": [
            -1309.341552734375,
            3084.976806640625,
            346.15692138671875
        ],
        "rotation": [
            -0.8830259442329407,
            -1.6630553007125854,
            175.28404235839844
        ],
        "velocity": [
            -30.521461486816406,
            3.4110331535339355,
            -0.9162846803665161
        ],
        "speed": 30.71147600597739,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 80.57797241210938,
        "front_vehicle_info": {
            "id": 3777,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1389.726806640625,
                3090.5283203125,
                345.7084655761719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3821,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1374.485107421875,
                        "y": 3110.04736328125,
                        "z": 345.6106872558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3820,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1374.83935546875,
                        "y": 3106.565185546875,
                        "z": 345.61126708984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3819,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1375.1937255859375,
                        "y": 3103.083740234375,
                        "z": 345.6119079589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3818,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.5230712890625,
                        "y": 3075.0087890625,
                        "z": 356.2236328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.81701135635376,
                "transform": {
                    "location": {
                        "x": -1332.725341796875,
                        "y": 3106.72705078125,
                        "z": 345.67156982421875
                    },
                    "rotation": {
                        "roll": 0.005793564487248659,
                        "pitch": 0.5833801031112671,
                        "yaw": -3.1062018871307373
                    }
                },
                "velocity": {
                    "x": 5.807716369628906,
                    "y": -0.32349875569343567,
                    "z": 0.05829739570617676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.503087997436523,
                "transform": {
                    "location": {
                        "x": -1331.9163818359375,
                        "y": 3103.178466796875,
                        "z": 345.69757080078125
                    },
                    "rotation": {
                        "roll": 0.004328208044171333,
                        "pitch": 0.655500054359436,
                        "yaw": -3.173187732696533
                    }
                },
                "velocity": {
                    "x": 6.492425918579102,
                    "y": -0.3633158504962921,
                    "z": 0.08097133785486221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.345153331756592,
                "transform": {
                    "location": {
                        "x": -1330.36181640625,
                        "y": 3099.568603515625,
                        "z": 345.707763671875
                    },
                    "rotation": {
                        "roll": 0.005392837338149548,
                        "pitch": 0.751061201095581,
                        "yaw": -2.940430164337158
                    }
                },
                "velocity": {
                    "x": 6.33591890335083,
                    "y": -0.33318400382995605,
                    "z": 0.07805456221103668
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3814,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1079.7352294921875,
                        "y": 3075.52734375,
                        "z": 355.73394775390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.7965779304504395,
                "transform": {
                    "location": {
                        "x": -1289.4039306640625,
                        "y": 3104.832763671875,
                        "z": 346.81243896484375
                    },
                    "rotation": {
                        "roll": 0.00400027260184288,
                        "pitch": 2.1146743297576904,
                        "yaw": -1.4672547578811646
                    }
                },
                "velocity": {
                    "x": 7.788865566253662,
                    "y": -0.19779059290885925,
                    "z": 0.28475046157836914
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.189455032348633,
                "transform": {
                    "location": {
                        "x": -1289.0548095703125,
                        "y": 3101.3212890625,
                        "z": 346.81756591796875
                    },
                    "rotation": {
                        "roll": -0.001312255859375,
                        "pitch": 2.101874589920044,
                        "yaw": -1.4497984647750854
                    }
                },
                "velocity": {
                    "x": 8.181474685668945,
                    "y": -0.20779664814472198,
                    "z": 0.29573118686676025
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.460779190063477,
                "transform": {
                    "location": {
                        "x": -1289.855712890625,
                        "y": 3097.8427734375,
                        "z": 346.8021545410156
                    },
                    "rotation": {
                        "roll": -0.0003662093367893249,
                        "pitch": 2.216478109359741,
                        "yaw": -1.4763184785842896
                    }
                },
                "velocity": {
                    "x": 8.45246410369873,
                    "y": -0.21707236766815186,
                    "z": 0.3057881295681
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.982058525085449,
                "transform": {
                    "location": {
                        "x": -1248.748779296875,
                        "y": 3107.40283203125,
                        "z": 348.5504150390625
                    },
                    "rotation": {
                        "roll": 0.006441284436732531,
                        "pitch": 2.7890734672546387,
                        "yaw": -1.193206787109375
                    }
                },
                "velocity": {
                    "x": 7.970896244049072,
                    "y": -0.16882680356502533,
                    "z": 0.3867452144622803
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.016725540161133,
                "transform": {
                    "location": {
                        "x": -1248.050048828125,
                        "y": 3103.900146484375,
                        "z": 348.6035461425781
                    },
                    "rotation": {
                        "roll": 0.025208670645952225,
                        "pitch": 2.775918483734131,
                        "yaw": -0.797027587890625
                    }
                },
                "velocity": {
                    "x": 8.005366325378418,
                    "y": -0.17124208807945251,
                    "z": 0.39073386788368225
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.99331521987915,
                "transform": {
                    "location": {
                        "x": -1248.0755615234375,
                        "y": 3100.393310546875,
                        "z": 348.60614013671875
                    },
                    "rotation": {
                        "roll": -0.0005798287456855178,
                        "pitch": 2.775385856628418,
                        "yaw": -1.279144048690796
                    }
                },
                "velocity": {
                    "x": 7.981786727905273,
                    "y": -0.17807446420192719,
                    "z": 0.39045417308807373
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.978969097137451,
                "transform": {
                    "location": {
                        "x": -1246.9776611328125,
                        "y": 3096.867431640625,
                        "z": 348.6541748046875
                    },
                    "rotation": {
                        "roll": 0.00018613607971929014,
                        "pitch": 2.8082594871520996,
                        "yaw": -1.2751160860061646
                    }
                },
                "velocity": {
                    "x": 7.967334270477295,
                    "y": -0.17780666053295135,
                    "z": 0.39232137799263
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.6357421875,
                        "y": 3076.128173828125,
                        "z": 354.9205322265625
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1129.4617919921875,
                        "y": 3076.638427734375,
                        "z": 354.08990478515625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.7562255859375,
                        "y": 3077.180908203125,
                        "z": 353.2040100097656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.1011962890625,
                        "y": 3087.04833984375,
                        "z": 345.7082824707031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.6156005859375,
                        "y": 3088.2548828125,
                        "z": 345.8835754394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.220458984375,
                        "y": 3091.732666015625,
                        "z": 345.88116455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.359619140625,
                        "y": 3094.00927734375,
                        "z": 345.7085876464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.797119140625,
                        "y": 3095.206787109375,
                        "z": 345.8822326660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.2808837890625,
                        "y": 3078.06396484375,
                        "z": 351.49713134765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.330354690551758,
                "transform": {
                    "location": {
                        "x": -1305.45361328125,
                        "y": 3080.743896484375,
                        "z": 346.32464599609375
                    },
                    "rotation": {
                        "roll": 0.0217107143253088,
                        "pitch": -1.8318088054656982,
                        "yaw": 177.74884033203125
                    }
                },
                "velocity": {
                    "x": -12.31475830078125,
                    "y": 0.48029962182044983,
                    "z": -0.3920349180698395
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.88232421875,
                        "y": 3078.791748046875,
                        "z": 349.7431640625
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9986929297447205,
        "expert_target_speed": 20.0,
        "target_point": [
            32.223735729401795,
            4.9321126133541915
        ],
        "target_point_next": [
            63.690941170845036,
            4.923728354762242
        ]
    },
    "315": {
        "acceleration": [
            -0.4483795166015625,
            -3.7566614151000977,
            0.7570803165435791
        ],
        "angular_velocity": [
            -0.30905118584632874,
            1.7389936447143555,
            4.127720832824707
        ],
        "forward_vector": [
            -0.9983673691749573,
            0.05230870470404625,
            -0.022943271324038506
        ],
        "right_vector": [
            -0.05285315215587616,
            -0.9983185529708862,
            0.023802803829312325
        ],
        "location": [
            -1316.993408203125,
            3085.684814453125,
            345.9519958496094
        ],
        "rotation": [
            -1.3642882108688354,
            -1.3146679401397705,
            177.0007781982422
        ],
        "velocity": [
            -30.65717887878418,
            2.3313357830047607,
            -0.7212490439414978
        ],
        "speed": 30.745694712250188,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 75.39196014404297,
        "front_vehicle_info": {
            "id": 3777,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1392.2109375,
                3090.80615234375,
                345.74639892578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3821,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.66948938369751,
                "transform": {
                    "location": {
                        "x": -1372.810302734375,
                        "y": 3109.897216796875,
                        "z": 345.5809020996094
                    },
                    "rotation": {
                        "roll": -0.0223693810403347,
                        "pitch": -0.46133142709732056,
                        "yaw": -5.083285808563232
                    }
                },
                "velocity": {
                    "x": 6.645699501037598,
                    "y": -0.5618327856063843,
                    "z": -0.03339261934161186
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3820,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.696262359619141,
                "transform": {
                    "location": {
                        "x": -1373.137939453125,
                        "y": 3106.411376953125,
                        "z": 345.54876708984375
                    },
                    "rotation": {
                        "roll": -0.016204833984375,
                        "pitch": -0.42129287123680115,
                        "yaw": -5.097537040710449
                    }
                },
                "velocity": {
                    "x": 6.671441078186035,
                    "y": -0.5625557899475098,
                    "z": -0.12384495139122009
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3819,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.625410079956055,
                "transform": {
                    "location": {
                        "x": -1373.5086669921875,
                        "y": 3102.931396484375,
                        "z": 345.5531311035156
                    },
                    "rotation": {
                        "roll": 0.013196472078561783,
                        "pitch": -0.27374032139778137,
                        "yaw": -5.162752628326416
                    }
                },
                "velocity": {
                    "x": 6.601235866546631,
                    "y": -0.557847797870636,
                    "z": -0.0924515426158905
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3818,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1060.7706298828125,
                        "y": 3075.10400390625,
                        "z": 356.14459228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.48787260055542,
                "transform": {
                    "location": {
                        "x": -1331.141357421875,
                        "y": 3106.639404296875,
                        "z": 345.68896484375
                    },
                    "rotation": {
                        "roll": 0.005012209061533213,
                        "pitch": 0.7673170566558838,
                        "yaw": -3.142151355743408
                    }
                },
                "velocity": {
                    "x": 7.475705623626709,
                    "y": -0.41676443815231323,
                    "z": 0.09148015826940536
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.171677589416504,
                "transform": {
                    "location": {
                        "x": -1330.2215576171875,
                        "y": 3103.083984375,
                        "z": 345.71844482421875
                    },
                    "rotation": {
                        "roll": 0.0034574323799461126,
                        "pitch": 0.6765575408935547,
                        "yaw": -3.1978161334991455
                    }
                },
                "velocity": {
                    "x": 7.159956455230713,
                    "y": -0.40043365955352783,
                    "z": 0.08737100660800934
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.312403202056885,
                "transform": {
                    "location": {
                        "x": -1328.6646728515625,
                        "y": 3099.479736328125,
                        "z": 345.730224609375
                    },
                    "rotation": {
                        "roll": 0.006851901300251484,
                        "pitch": 0.8080796599388123,
                        "yaw": -3.021545648574829
                    }
                },
                "velocity": {
                    "x": 7.301311016082764,
                    "y": -0.38738298416137695,
                    "z": 0.10967469960451126
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3814,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.982177734375,
                        "y": 3075.6220703125,
                        "z": 355.6238098144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.096246719360352,
                "transform": {
                    "location": {
                        "x": -1287.4190673828125,
                        "y": 3104.78369140625,
                        "z": 346.8855285644531
                    },
                    "rotation": {
                        "roll": -0.00027465869789011776,
                        "pitch": 2.0963351726531982,
                        "yaw": -1.410064697265625
                    }
                },
                "velocity": {
                    "x": 8.08839225769043,
                    "y": -0.1926351934671402,
                    "z": 0.3000135123729706
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.922460079193115,
                "transform": {
                    "location": {
                        "x": -1287.049072265625,
                        "y": 3101.271484375,
                        "z": 346.89129638671875
                    },
                    "rotation": {
                        "roll": -0.0029296875,
                        "pitch": 2.107987403869629,
                        "yaw": -1.3936156034469604
                    }
                },
                "velocity": {
                    "x": 7.914754867553711,
                    "y": -0.19041398167610168,
                    "z": 0.29287004470825195
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.981103897094727,
                "transform": {
                    "location": {
                        "x": -1287.8114013671875,
                        "y": 3097.791259765625,
                        "z": 346.8783874511719
                    },
                    "rotation": {
                        "roll": -0.00915527157485485,
                        "pitch": 1.981348991394043,
                        "yaw": -1.4405821561813354
                    }
                },
                "velocity": {
                    "x": 7.9733476638793945,
                    "y": -0.1951930820941925,
                    "z": 0.29265886545181274
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3810,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1246.730224609375,
                        "y": 3107.345947265625,
                        "z": 348.65045166015625
                    },
                    "rotation": {
                        "roll": 3.3390661346999195e-09,
                        "pitch": 2.8094000816345215,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3809,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1246.0364990234375,
                        "y": 3103.83544921875,
                        "z": 348.700927734375
                    },
                    "rotation": {
                        "roll": 3.3390661346999195e-09,
                        "pitch": 2.8094000816345215,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1246.0638427734375,
                        "y": 3100.328369140625,
                        "z": 348.7034606933594
                    },
                    "rotation": {
                        "roll": 3.3390661346999195e-09,
                        "pitch": 2.8094000816345215,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1244.96875,
                        "y": 3096.77734375,
                        "z": 348.7547912597656
                    },
                    "rotation": {
                        "roll": 3.3390661346999195e-09,
                        "pitch": 2.8094000816345215,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1110.8814697265625,
                        "y": 3076.223388671875,
                        "z": 354.7672119140625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.70751953125,
                        "y": 3076.732666015625,
                        "z": 353.93505859375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.0018310546875,
                        "y": 3077.27587890625,
                        "z": 353.04876708984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1393.8272705078125,
                        "y": 3087.466796875,
                        "z": 345.76513671875
                    },
                    "rotation": {
                        "roll": -3.3354765616167015e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 173.43484497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1404.0079345703125,
                        "y": 3088.666748046875,
                        "z": 345.9300231933594
                    },
                    "rotation": {
                        "roll": 6.670953123233403e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 172.95127868652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1392.2109375,
                        "y": 3090.80615234375,
                        "z": 345.74639892578125
                    },
                    "rotation": {
                        "roll": -3.3354765616167015e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 173.43484497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1403.634033203125,
                        "y": 3092.146728515625,
                        "z": 345.92974853515625
                    },
                    "rotation": {
                        "roll": 6.670953123233403e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 172.95127868652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1391.84375,
                        "y": 3094.287109375,
                        "z": 345.74664306640625
                    },
                    "rotation": {
                        "roll": -3.3354765616167015e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 173.43484497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1403.180419921875,
                        "y": 3095.617431640625,
                        "z": 345.9298095703125
                    },
                    "rotation": {
                        "roll": 6.670953123233403e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 172.95127868652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1197.5240478515625,
                        "y": 3078.158935546875,
                        "z": 351.27459716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.772271156311035,
                "transform": {
                    "location": {
                        "x": -1308.73046875,
                        "y": 3080.87841796875,
                        "z": 346.2225646972656
                    },
                    "rotation": {
                        "roll": 0.03195091709494591,
                        "pitch": -1.5653358697891235,
                        "yaw": 177.59613037109375
                    }
                },
                "velocity": {
                    "x": -13.754152297973633,
                    "y": 0.5805130004882812,
                    "z": -0.40217459201812744
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.12548828125,
                        "y": 3078.88671875,
                        "z": 349.52276611328125
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0003509521484375,
        "expert_target_speed": 20.0,
        "target_point": [
            24.67860988631792,
            4.271213591317451
        ],
        "target_point_next": [
            56.13144030698589,
            3.3201367708178386
        ]
    },
    "320": {
        "acceleration": [
            0.10486602783203125,
            -1.271226406097412,
            0.9780251979827881
        ],
        "angular_velocity": [
            2.1724038124084473,
            1.3056617975234985,
            -1.5102529525756836
        ],
        "forward_vector": [
            -0.9986467361450195,
            0.04905206710100174,
            -0.01728031225502491
        ],
        "right_vector": [
            -0.04937334358692169,
            -0.9986056685447693,
            0.018683521077036858
        ],
        "location": [
            -1324.6658935546875,
            3086.18798828125,
            345.7942810058594
        ],
        "rotation": [
            -1.0707091093063354,
            -0.9901382923126221,
            177.18797302246094
        ],
        "velocity": [
            -30.675987243652344,
            1.7835488319396973,
            -0.5297664999961853
        ],
        "speed": 30.727792628313455,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 71.4486312866211,
        "front_vehicle_info": {
            "id": 3777,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1395.9364013671875,
                3091.22998046875,
                345.804443359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3821,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.456648349761963,
                "transform": {
                    "location": {
                        "x": -1371.1754150390625,
                        "y": 3109.7568359375,
                        "z": 345.5714111328125
                    },
                    "rotation": {
                        "roll": -0.007781980559229851,
                        "pitch": -0.3179316222667694,
                        "yaw": -4.903048515319824
                    }
                },
                "velocity": {
                    "x": 6.433510780334473,
                    "y": -0.5452190041542053,
                    "z": -0.031361792236566544
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3820,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.62714958190918,
                "transform": {
                    "location": {
                        "x": -1371.478515625,
                        "y": 3106.269287109375,
                        "z": 345.52850341796875
                    },
                    "rotation": {
                        "roll": -0.005279540549963713,
                        "pitch": -0.3061222434043884,
                        "yaw": -4.891541957855225
                    }
                },
                "velocity": {
                    "x": 6.603371620178223,
                    "y": -0.55854332447052,
                    "z": -0.05125703662633896
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3819,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.546459674835205,
                "transform": {
                    "location": {
                        "x": -1371.8687744140625,
                        "y": 3102.790771484375,
                        "z": 345.54046630859375
                    },
                    "rotation": {
                        "roll": -0.000976561161223799,
                        "pitch": -0.28213462233543396,
                        "yaw": -4.957674980163574
                    }
                },
                "velocity": {
                    "x": 6.523018836975098,
                    "y": -0.5524778366088867,
                    "z": -0.03357361629605293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3818,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1065.0181884765625,
                        "y": 3075.19873046875,
                        "z": 356.0632629394531
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.417603492736816,
                "transform": {
                    "location": {
                        "x": -1329.1021728515625,
                        "y": 3106.525634765625,
                        "z": 345.71392822265625
                    },
                    "rotation": {
                        "roll": 0.002481106435880065,
                        "pitch": 0.8540194630622864,
                        "yaw": -3.188782215118408
                    }
                },
                "velocity": {
                    "x": 8.403705596923828,
                    "y": -0.47054412961006165,
                    "z": 0.11121208220720291
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.568855285644531,
                "transform": {
                    "location": {
                        "x": -1328.3133544921875,
                        "y": 3102.97705078125,
                        "z": 345.7439270019531
                    },
                    "rotation": {
                        "roll": 0.005633234046399593,
                        "pitch": 0.6485059261322021,
                        "yaw": -3.178711414337158
                    }
                },
                "velocity": {
                    "x": 8.554915428161621,
                    "y": -0.4715113043785095,
                    "z": 0.12802377343177795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.164965629577637,
                "transform": {
                    "location": {
                        "x": -1326.746826171875,
                        "y": 3099.377685546875,
                        "z": 345.7585144042969
                    },
                    "rotation": {
                        "roll": 0.0030482320580631495,
                        "pitch": 0.9305790662765503,
                        "yaw": -3.0556647777557373
                    }
                },
                "velocity": {
                    "x": 8.15244197845459,
                    "y": -0.4345557689666748,
                    "z": 0.12457549571990967
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3814,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1088.2288818359375,
                        "y": 3075.717041015625,
                        "z": 355.5070495605469
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.990163803100586,
                "transform": {
                    "location": {
                        "x": -1285.404541015625,
                        "y": 3104.735595703125,
                        "z": 346.96038818359375
                    },
                    "rotation": {
                        "roll": 0.001706304494291544,
                        "pitch": 2.119079828262329,
                        "yaw": -1.3695069551467896
                    }
                },
                "velocity": {
                    "x": 7.982211589813232,
                    "y": -0.18761104345321655,
                    "z": 0.3030106723308563
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.8723464012146,
                "transform": {
                    "location": {
                        "x": -1285.08203125,
                        "y": 3101.224365234375,
                        "z": 346.96514892578125
                    },
                    "rotation": {
                        "roll": -0.0025634767953306437,
                        "pitch": 2.1666247844696045,
                        "yaw": -1.342803955078125
                    }
                },
                "velocity": {
                    "x": 7.864367961883545,
                    "y": -0.18499375879764557,
                    "z": 0.3022174537181854
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.89682149887085,
                "transform": {
                    "location": {
                        "x": -1285.8427734375,
                        "y": 3097.7431640625,
                        "z": 346.9508056640625
                    },
                    "rotation": {
                        "roll": -0.007476804777979851,
                        "pitch": 2.085085868835449,
                        "yaw": -1.3822021484375
                    }
                },
                "velocity": {
                    "x": 7.8888678550720215,
                    "y": -0.1884322464466095,
                    "z": 0.3000786304473877
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1115.126953125,
                        "y": 3076.318115234375,
                        "z": 354.61260986328125
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3801,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.952880859375,
                        "y": 3076.827392578125,
                        "z": 353.78021240234375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3796,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.2469482421875,
                        "y": 3077.370849609375,
                        "z": 352.88970947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1396.3109130859375,
                        "y": 3087.75,
                        "z": 345.8041076660156
                    },
                    "rotation": {
                        "roll": -3.3354765616167015e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 173.43484497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1409.6129150390625,
                        "y": 3089.364990234375,
                        "z": 346.01531982421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9130118489265442,
                        "yaw": 172.70948791503906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1395.9364013671875,
                        "y": 3091.22998046875,
                        "z": 345.804443359375
                    },
                    "rotation": {
                        "roll": -3.3354765616167015e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 173.43484497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1409.24072265625,
                        "y": 3092.845458984375,
                        "z": 346.0162353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9130118489265442,
                        "yaw": 172.70948791503906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1395.5692138671875,
                        "y": 3094.710205078125,
                        "z": 345.8049011230469
                    },
                    "rotation": {
                        "roll": -3.3354765616167015e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 173.43484497070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1408.76416015625,
                        "y": 3096.3134765625,
                        "z": 346.0157775878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9130118489265442,
                        "yaw": 172.70948791503906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3773,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1201.7664794921875,
                        "y": 3078.253662109375,
                        "z": 351.0455322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3767,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.832695007324219,
                "transform": {
                    "location": {
                        "x": -1312.271484375,
                        "y": 3081.031494140625,
                        "z": 346.1229553222656
                    },
                    "rotation": {
                        "roll": 0.02198641560971737,
                        "pitch": -1.4112467765808105,
                        "yaw": 177.431640625
                    }
                },
                "velocity": {
                    "x": -14.812392234802246,
                    "y": 0.6730449795722961,
                    "z": -0.38584938645362854
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3766,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1234.36865234375,
                        "y": 3078.9814453125,
                        "z": 349.3056945800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9989977478981018,
        "expert_target_speed": 0,
        "target_point": [
            17.004501413253806,
            4.316720534014811
        ],
        "target_point_next": [
            48.45405651532834,
            3.2628835108629364
        ]
    },
    "325": {
        "acceleration": [
            0.246124267578125,
            0.5887985229492188,
            0.8573013544082642
        ],
        "angular_velocity": [
            2.515768051147461,
            1.0187177658081055,
            -3.0295376777648926
        ],
        "forward_vector": [
            -0.9981280565261841,
            0.06002303957939148,
            -0.011727778241038322
        ],
        "right_vector": [
            -0.06011863425374031,
            -0.9981593489646912,
            0.007976068183779716
        ],
        "location": [
            -1332.332275390625,
            3086.62646484375,
            345.68255615234375
        ],
        "rotation": [
            -0.4570313096046448,
            -0.671967625617981,
            176.55862426757812
        ],
        "velocity": [
            -30.62750244140625,
            1.7670493125915527,
            -0.35099685192108154
        ],
        "speed": 30.67843491887218,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 68.62708282470703,
        "front_vehicle_info": {
            "id": 3777,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1400.76513671875,
                3091.78125,
                345.90167236328125
            ],
            "velocity": [
                -23.84980010986328,
                2.717162609100342,
                0.4670054614543915
            ],
            "speed_kmh": 86.43104682377621,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3821,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.619289875030518,
                "transform": {
                    "location": {
                        "x": -1369.6146240234375,
                        "y": 3109.624267578125,
                        "z": 345.564208984375
                    },
                    "rotation": {
                        "roll": -0.004241944290697575,
                        "pitch": -0.39703887701034546,
                        "yaw": -4.851594924926758
                    }
                },
                "velocity": {
                    "x": 5.5992045402526855,
                    "y": -0.4737565517425537,
                    "z": -0.029692402109503746
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3820,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.672785758972168,
                "transform": {
                    "location": {
                        "x": -1369.9002685546875,
                        "y": 3106.13525390625,
                        "z": 345.51898193359375
                    },
                    "rotation": {
                        "roll": -0.003631591098383069,
                        "pitch": -0.3635299801826477,
                        "yaw": -4.831727981567383
                    }
                },
                "velocity": {
                    "x": 5.652581691741943,
                    "y": -0.47724756598472595,
                    "z": -0.03243279457092285
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3819,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.622762203216553,
                "transform": {
                    "location": {
                        "x": -1370.2281494140625,
                        "y": 3102.651611328125,
                        "z": 345.5326232910156
                    },
                    "rotation": {
                        "roll": -0.0014343246584758162,
                        "pitch": -0.3024885654449463,
                        "yaw": -4.877230644226074
                    }
                },
                "velocity": {
                    "x": 6.599221229553223,
                    "y": -0.5569117069244385,
                    "z": -0.03328510373830795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.925362586975098,
                "transform": {
                    "location": {
                        "x": -1327.0643310546875,
                        "y": 3106.4130859375,
                        "z": 345.7438659667969
                    },
                    "rotation": {
                        "roll": 0.0012361359549686313,
                        "pitch": 0.8425993919372559,
                        "yaw": -3.160308837890625
                    }
                },
                "velocity": {
                    "x": 7.912524700164795,
                    "y": -0.43300214409828186,
                    "z": 0.12582820653915405
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.303535461425781,
                "transform": {
                    "location": {
                        "x": -1326.162109375,
                        "y": 3102.85888671875,
                        "z": 345.77557373046875
                    },
                    "rotation": {
                        "roll": 0.0018682348309084773,
                        "pitch": 0.8922070860862732,
                        "yaw": -3.148712635040283
                    }
                },
                "velocity": {
                    "x": 8.290139198303223,
                    "y": -0.4533860385417938,
                    "z": 0.12936259806156158
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.484633445739746,
                "transform": {
                    "location": {
                        "x": -1324.597412109375,
                        "y": 3099.262939453125,
                        "z": 345.7930908203125
                    },
                    "rotation": {
                        "roll": 0.0026036095805466175,
                        "pitch": 0.9839160442352295,
                        "yaw": -3.0785529613494873
                    }
                },
                "velocity": {
                    "x": 8.47110652923584,
                    "y": -0.45401832461357117,
                    "z": 0.15239235758781433
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005048751831055,
                "transform": {
                    "location": {
                        "x": -1283.410888671875,
                        "y": 3104.68896484375,
                        "z": 347.0361328125
                    },
                    "rotation": {
                        "roll": 0.016780013218522072,
                        "pitch": 2.200201988220215,
                        "yaw": -1.3465577363967896
                    }
                },
                "velocity": {
                    "x": 7.997039794921875,
                    "y": -0.18367047607898712,
                    "z": 0.30729928612709045
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.99902868270874,
                "transform": {
                    "location": {
                        "x": -1283.097900390625,
                        "y": 3101.177978515625,
                        "z": 347.0406494140625
                    },
                    "rotation": {
                        "roll": -0.001647947821766138,
                        "pitch": 2.2453904151916504,
                        "yaw": -1.3129881620407104
                    }
                },
                "velocity": {
                    "x": 7.99092435836792,
                    "y": -0.18419192731380463,
                    "z": 0.30929070711135864
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.168848991394043,
                "transform": {
                    "location": {
                        "x": -1283.8267822265625,
                        "y": 3097.6953125,
                        "z": 347.0263671875
                    },
                    "rotation": {
                        "roll": -0.006134033668786287,
                        "pitch": 2.310823678970337,
                        "yaw": -1.348602294921875
                    }
                },
                "velocity": {
                    "x": 8.160634994506836,
                    "y": -0.1899394690990448,
                    "z": 0.3131164610385895
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 24.06911849975586,
                "transform": {
                    "location": {
                        "x": -1401.1680908203125,
                        "y": 3088.318603515625,
                        "z": 345.8783874511719
                    },
                    "rotation": {
                        "roll": 0.0009523660992272198,
                        "pitch": 0.8906907439231873,
                        "yaw": 173.31259155273438
                    }
                },
                "velocity": {
                    "x": -23.90447235107422,
                    "y": 2.7875514030456543,
                    "z": 0.35803893208503723
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1415.8099365234375,
                        "y": 3090.169189453125,
                        "z": 346.1137390136719
                    },
                    "rotation": {
                        "roll": 6.6709544555010325e-09,
                        "pitch": 0.9136607050895691,
                        "yaw": 172.4677276611328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 24.008625030517578,
                "transform": {
                    "location": {
                        "x": -1400.76513671875,
                        "y": 3091.78125,
                        "z": 345.90167236328125
                    },
                    "rotation": {
                        "roll": 0.0018254463793709874,
                        "pitch": 0.8448192477226257,
                        "yaw": 173.5481719970703
                    }
                },
                "velocity": {
                    "x": -23.84980010986328,
                    "y": 2.717162609100342,
                    "z": 0.4670054614543915
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1415.437744140625,
                        "y": 3093.649658203125,
                        "z": 346.1150817871094
                    },
                    "rotation": {
                        "roll": 6.6709544555010325e-09,
                        "pitch": 0.9136607050895691,
                        "yaw": 172.4677276611328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 24.00853729248047,
                "transform": {
                    "location": {
                        "x": -1400.39794921875,
                        "y": 3095.261474609375,
                        "z": 345.9023742675781
                    },
                    "rotation": {
                        "roll": 0.0027654978912323713,
                        "pitch": 0.8467658162117004,
                        "yaw": 173.54627990722656
                    }
                },
                "velocity": {
                    "x": -23.849639892578125,
                    "y": 2.717568874359131,
                    "z": 0.4683535695075989
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1414.961181640625,
                        "y": 3097.11767578125,
                        "z": 346.1147155761719
                    },
                    "rotation": {
                        "roll": 6.6709544555010325e-09,
                        "pitch": 0.9136607050895691,
                        "yaw": 172.4677276611328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9990314841270447,
        "expert_target_speed": 20.0,
        "target_point": [
            9.27718195298659,
            4.480735069640375
        ],
        "target_point_next": [
            40.73641531830314,
            3.7724098220730515
        ]
    },
    "330": {
        "acceleration": [
            0.25485992431640625,
            0.7507681846618652,
            0.3354877233505249
        ],
        "angular_velocity": [
            1.0963425636291504,
            0.18478359282016754,
            -1.3547823429107666
        ],
        "forward_vector": [
            -0.9973796010017395,
            0.07196573913097382,
            -0.007406166754662991
        ],
        "right_vector": [
            -0.07196464389562607,
            -0.9974071383476257,
            -0.0004145280399825424
        ],
        "location": [
            -1339.982421875,
            3087.099853515625,
            345.613037109375
        ],
        "rotation": [
            0.023751359432935715,
            -0.4243459701538086,
            175.87298583984375
        ],
        "velocity": [
            -30.558231353759766,
            1.9926328659057617,
            -0.22294862568378448
        ],
        "speed": 30.623129970794857,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 66.78160858154297,
        "front_vehicle_info": {
            "id": 3777,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1406.5484619140625,
                3092.447021484375,
                346.00537109375
            ],
            "velocity": [
                -22.511119842529297,
                2.6487948894500732,
                0.37708258628845215
            ],
            "speed_kmh": 81.61040580597155,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3824,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 24.226768493652344,
                "transform": {
                    "location": {
                        "x": -1308.0455322265625,
                        "y": 3080.82421875,
                        "z": 346.2821044921875
                    },
                    "rotation": {
                        "roll": 6.673862351647131e-09,
                        "pitch": -1.9224181175231934,
                        "yaw": 177.9304656982422
                    }
                },
                "velocity": {
                    "x": -23.991342544555664,
                    "y": 0.8669520616531372,
                    "z": -3.25579571723938
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3823,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 24.166826248168945,
                "transform": {
                    "location": {
                        "x": -1308.0567626953125,
                        "y": 3084.328125,
                        "z": 346.27740478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 177.92311096191406
                    }
                },
                "velocity": {
                    "x": -23.931055068969727,
                    "y": 0.8678359985351562,
                    "z": -3.253774881362915
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3822,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 23.69516944885254,
                "transform": {
                    "location": {
                        "x": -1308.481201171875,
                        "y": 3087.84814453125,
                        "z": 346.26226806640625
                    },
                    "rotation": {
                        "roll": -0.003601074917241931,
                        "pitch": -1.8803373575210571,
                        "yaw": 177.8964385986328
                    }
                },
                "velocity": {
                    "x": -23.50419807434082,
                    "y": 0.8643080592155457,
                    "z": -2.8751931190490723
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3821,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.201305866241455,
                "transform": {
                    "location": {
                        "x": -1368.2945556640625,
                        "y": 3109.512451171875,
                        "z": 345.55804443359375
                    },
                    "rotation": {
                        "roll": -0.001770020229741931,
                        "pitch": -0.32467302680015564,
                        "yaw": -4.813143730163574
                    }
                },
                "velocity": {
                    "x": 5.182873249053955,
                    "y": -0.43716129660606384,
                    "z": -0.01732596382498741
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3820,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.663171768188477,
                "transform": {
                    "location": {
                        "x": -1368.517333984375,
                        "y": 3106.018310546875,
                        "z": 345.5118713378906
                    },
                    "rotation": {
                        "roll": -0.0011596671538427472,
                        "pitch": -0.29107531905174255,
                        "yaw": -4.821749687194824
                    }
                },
                "velocity": {
                    "x": 5.643091678619385,
                    "y": -0.47616419196128845,
                    "z": -0.017207898199558258
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3819,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.008961200714111,
                "transform": {
                    "location": {
                        "x": -1368.648681640625,
                        "y": 3102.517822265625,
                        "z": 345.5252990722656
                    },
                    "rotation": {
                        "roll": -0.0021057131234556437,
                        "pitch": -0.2085871398448944,
                        "yaw": -4.850709915161133
                    }
                },
                "velocity": {
                    "x": 5.987529277801514,
                    "y": -0.5067684054374695,
                    "z": -0.01725141517817974
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.994887828826904,
                "transform": {
                    "location": {
                        "x": -1325.095703125,
                        "y": 3106.30517578125,
                        "z": 345.7743225097656
                    },
                    "rotation": {
                        "roll": 0.0006870898068882525,
                        "pitch": 0.9556185603141785,
                        "yaw": -3.1318061351776123
                    }
                },
                "velocity": {
                    "x": 7.981950283050537,
                    "y": -0.43506765365600586,
                    "z": 0.13196426630020142
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.844442844390869,
                "transform": {
                    "location": {
                        "x": -1324.1612548828125,
                        "y": 3102.749267578125,
                        "z": 345.8077392578125
                    },
                    "rotation": {
                        "roll": 0.00013434495485853404,
                        "pitch": 1.005540370941162,
                        "yaw": -3.1393134593963623
                    }
                },
                "velocity": {
                    "x": 7.831477642059326,
                    "y": -0.4270894229412079,
                    "z": 0.14435052871704102
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.105682373046875,
                "transform": {
                    "location": {
                        "x": -1322.53369140625,
                        "y": 3099.153564453125,
                        "z": 345.83056640625
                    },
                    "rotation": {
                        "roll": -0.00137328973505646,
                        "pitch": 1.0823390483856201,
                        "yaw": -3.0385749340057373
                    }
                },
                "velocity": {
                    "x": 8.093263626098633,
                    "y": -0.4224158525466919,
                    "z": 0.15076129138469696
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.990469932556152,
                "transform": {
                    "location": {
                        "x": -1281.41259765625,
                        "y": 3104.642822265625,
                        "z": 347.1134338378906
                    },
                    "rotation": {
                        "roll": 0.02481785975396633,
                        "pitch": 2.221177339553833,
                        "yaw": -1.325897216796875
                    }
                },
                "velocity": {
                    "x": 7.982302188873291,
                    "y": -0.18262605369091034,
                    "z": 0.3116251826286316
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.97095251083374,
                "transform": {
                    "location": {
                        "x": -1281.10205078125,
                        "y": 3101.13232421875,
                        "z": 347.1186218261719
                    },
                    "rotation": {
                        "roll": -0.0009460439905524254,
                        "pitch": 2.2352135181427,
                        "yaw": -1.2911375761032104
                    }
                },
                "velocity": {
                    "x": 7.962920188903809,
                    "y": -0.17997325956821442,
                    "z": 0.3091930150985718
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.032187461853027,
                "transform": {
                    "location": {
                        "x": -1281.8009033203125,
                        "y": 3097.64794921875,
                        "z": 347.1051940917969
                    },
                    "rotation": {
                        "roll": -0.004516602028161287,
                        "pitch": 2.2712154388427734,
                        "yaw": -1.31787109375
                    }
                },
                "velocity": {
                    "x": 8.023981094360352,
                    "y": -0.18330375850200653,
                    "z": 0.3133143484592438
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 22.52935028076172,
                "transform": {
                    "location": {
                        "x": -1406.9537353515625,
                        "y": 3088.99609375,
                        "z": 345.967529296875
                    },
                    "rotation": {
                        "roll": 0.009910271503031254,
                        "pitch": 0.872098982334137,
                        "yaw": 173.35568237304688
                    }
                },
                "velocity": {
                    "x": -22.3726749420166,
                    "y": 2.6288866996765137,
                    "z": 0.35211098194122314
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1422.0028076171875,
                        "y": 3091.006103515625,
                        "z": 346.21234130859375
                    },
                    "rotation": {
                        "roll": -6.670957120036292e-09,
                        "pitch": 0.9149720668792725,
                        "yaw": 171.98416137695312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 22.669557571411133,
                "transform": {
                    "location": {
                        "x": -1406.5484619140625,
                        "y": 3092.447021484375,
                        "z": 346.00537109375
                    },
                    "rotation": {
                        "roll": 0.0265729371458292,
                        "pitch": 0.7864689230918884,
                        "yaw": 173.28285217285156
                    }
                },
                "velocity": {
                    "x": -22.511119842529297,
                    "y": 2.6487948894500732,
                    "z": 0.37708258628845215
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1421.6304931640625,
                        "y": 3094.487060546875,
                        "z": 346.21392822265625
                    },
                    "rotation": {
                        "roll": -6.670957120036292e-09,
                        "pitch": 0.9149720668792725,
                        "yaw": 171.98416137695312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 22.614458084106445,
                "transform": {
                    "location": {
                        "x": -1406.179931640625,
                        "y": 3095.927734375,
                        "z": 346.0064392089844
                    },
                    "rotation": {
                        "roll": 0.025956090539693832,
                        "pitch": 0.7881832718849182,
                        "yaw": 173.28012084960938
                    }
                },
                "velocity": {
                    "x": -22.45635223388672,
                    "y": 2.6426405906677246,
                    "z": 0.3774135410785675
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1421.1539306640625,
                        "y": 3097.954833984375,
                        "z": 346.21392822265625
                    },
                    "rotation": {
                        "roll": -6.670957120036292e-09,
                        "pitch": 0.9149720668792725,
                        "yaw": 171.98416137695312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0010247230529785,
        "expert_target_speed": 20.0,
        "target_point": [
            33.02398027890327,
            4.18119006485431
        ],
        "target_point_next": [
            37.82920020502694,
            0.5559385870203659
        ]
    },
    "335": {
        "acceleration": [
            0.061187744140625,
            0.2522897720336914,
            0.1812419295310974
        ],
        "angular_velocity": [
            -0.055957768112421036,
            0.5029794573783875,
            0.8220416307449341
        ],
        "forward_vector": [
            -0.9973905086517334,
            0.0718221515417099,
            -0.00732844416052103
        ],
        "right_vector": [
            -0.07180709391832352,
            -0.9974159002304077,
            -0.002298956271260977
        ],
        "location": [
            -1347.61669921875,
            3087.61962890625,
            345.5580139160156
        ],
        "rotation": [
            0.13172414898872375,
            -0.41989269852638245,
            175.88124084472656
        ],
        "velocity": [
            -30.525604248046875,
            2.123091459274292,
            -0.2161594033241272
        ],
        "speed": 30.599346921998528,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 64.7648696899414,
        "front_vehicle_info": {
            "id": 3777,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1412.145263671875,
                3093.120849609375,
                346.09588623046875
            ],
            "velocity": [
                -22.32282257080078,
                2.787022590637207,
                0.35976067185401917
            ],
            "speed_kmh": 80.99642633630125,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3824,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 23.41046714782715,
                "transform": {
                    "location": {
                        "x": -1313.8978271484375,
                        "y": 3081.041259765625,
                        "z": 345.98590087890625
                    },
                    "rotation": {
                        "roll": -0.006958005018532276,
                        "pitch": -1.4200098514556885,
                        "yaw": 177.7498016357422
                    }
                },
                "velocity": {
                    "x": -23.39065170288086,
                    "y": 0.9070899486541748,
                    "z": -0.3234333097934723
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3823,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 23.352813720703125,
                "transform": {
                    "location": {
                        "x": -1313.894287109375,
                        "y": 3084.544921875,
                        "z": 345.9821472167969
                    },
                    "rotation": {
                        "roll": -0.008056641556322575,
                        "pitch": -1.4267581701278687,
                        "yaw": 177.74700927734375
                    }
                },
                "velocity": {
                    "x": -23.332923889160156,
                    "y": 0.906836986541748,
                    "z": -0.3258487582206726
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3822,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 23.485883712768555,
                "transform": {
                    "location": {
                        "x": -1314.34716796875,
                        "y": 3088.07080078125,
                        "z": 346.03173828125
                    },
                    "rotation": {
                        "roll": 0.00929509848356247,
                        "pitch": -1.458067774772644,
                        "yaw": 177.68678283691406
                    }
                },
                "velocity": {
                    "x": -23.4627628326416,
                    "y": 0.9420496821403503,
                    "z": -0.44501417875289917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3821,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.633634567260742,
                "transform": {
                    "location": {
                        "x": -1366.934814453125,
                        "y": 3109.396240234375,
                        "z": 345.55224609375
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.16614434123039246,
                        "yaw": -4.7892165184021
                    }
                },
                "velocity": {
                    "x": 5.612948417663574,
                    "y": -0.4819978177547455,
                    "z": -0.018075035884976387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3820,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.734750270843506,
                "transform": {
                    "location": {
                        "x": -1367.036865234375,
                        "y": 3105.891845703125,
                        "z": 345.50604248046875
                    },
                    "rotation": {
                        "roll": -0.0003662104718387127,
                        "pitch": -0.1183466836810112,
                        "yaw": -4.827974796295166
                    }
                },
                "velocity": {
                    "x": 6.7100348472595215,
                    "y": -0.5760616660118103,
                    "z": -0.02116928994655609
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3819,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.4455485343933105,
                "transform": {
                    "location": {
                        "x": -1367.1224365234375,
                        "y": 3102.38720703125,
                        "z": 345.52044677734375
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": -0.1748938113451004,
                        "yaw": -4.870485305786133
                    }
                },
                "velocity": {
                    "x": 6.421994686126709,
                    "y": -0.5501994490623474,
                    "z": -0.018927721306681633
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.13386344909668,
                "transform": {
                    "location": {
                        "x": -1323.0670166015625,
                        "y": 3106.19482421875,
                        "z": 345.8097839355469
                    },
                    "rotation": {
                        "roll": -0.0029907177668064833,
                        "pitch": 1.0328270196914673,
                        "yaw": -3.1060800552368164
                    }
                },
                "velocity": {
                    "x": 8.121127128601074,
                    "y": -0.4282367527484894,
                    "z": 0.1537415236234665
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.020768165588379,
                "transform": {
                    "location": {
                        "x": -1322.188720703125,
                        "y": 3102.644287109375,
                        "z": 345.8445739746094
                    },
                    "rotation": {
                        "roll": 0.003083526622503996,
                        "pitch": 1.0724011659622192,
                        "yaw": -3.042602777481079
                    }
                },
                "velocity": {
                    "x": 8.008600234985352,
                    "y": -0.415191650390625,
                    "z": 0.15050038695335388
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.886657238006592,
                "transform": {
                    "location": {
                        "x": -1320.543701171875,
                        "y": 3099.050048828125,
                        "z": 345.8689880371094
                    },
                    "rotation": {
                        "roll": -0.00036621399340219796,
                        "pitch": 1.1350953578948975,
                        "yaw": -2.958771228790283
                    }
                },
                "velocity": {
                    "x": 7.874499797821045,
                    "y": -0.40500980615615845,
                    "z": 0.16606879234313965
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031946182250977,
                "transform": {
                    "location": {
                        "x": -1279.410888671875,
                        "y": 3104.596923828125,
                        "z": 347.1916809082031
                    },
                    "rotation": {
                        "roll": 0.007228639908134937,
                        "pitch": 2.226771354675293,
                        "yaw": -1.3172608613967896
                    }
                },
                "velocity": {
                    "x": 8.023669242858887,
                    "y": -0.18474246561527252,
                    "z": 0.3142775893211365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.974245548248291,
                "transform": {
                    "location": {
                        "x": -1279.1112060546875,
                        "y": 3101.08740234375,
                        "z": 347.1961669921875
                    },
                    "rotation": {
                        "roll": 4.076022014487535e-05,
                        "pitch": 2.2305893898010254,
                        "yaw": -1.2825621366500854
                    }
                },
                "velocity": {
                    "x": 7.966197490692139,
                    "y": -0.17906905710697174,
                    "z": 0.3101929724216461
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.010047912597656,
                "transform": {
                    "location": {
                        "x": -1279.802734375,
                        "y": 3097.6025390625,
                        "z": 347.1837463378906
                    },
                    "rotation": {
                        "roll": -0.002014158759266138,
                        "pitch": 2.219435691833496,
                        "yaw": -1.3045958280563354
                    }
                },
                "velocity": {
                    "x": 8.001907348632812,
                    "y": -0.18105922639369965,
                    "z": 0.31235796213150024
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 21.793367385864258,
                "transform": {
                    "location": {
                        "x": -1412.408203125,
                        "y": 3089.64208984375,
                        "z": 346.0538330078125
                    },
                    "rotation": {
                        "roll": 0.01109777856618166,
                        "pitch": 0.8858618140220642,
                        "yaw": 173.06356811523438
                    }
                },
                "velocity": {
                    "x": -21.633453369140625,
                    "y": 2.61255145072937,
                    "z": 0.34515661001205444
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1428.191650390625,
                        "y": 3091.87109375,
                        "z": 346.3110046386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9156209826469421,
                        "yaw": 171.7423858642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 22.499006271362305,
                "transform": {
                    "location": {
                        "x": -1412.145263671875,
                        "y": 3093.120849609375,
                        "z": 346.09588623046875
                    },
                    "rotation": {
                        "roll": 0.04753049463033676,
                        "pitch": 0.8664777278900146,
                        "yaw": 172.77272033691406
                    }
                },
                "velocity": {
                    "x": -22.32282257080078,
                    "y": 2.787022590637207,
                    "z": 0.35976067185401917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1427.81884765625,
                        "y": 3095.356201171875,
                        "z": 346.31292724609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9156209826469421,
                        "yaw": 171.7423858642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 22.24041748046875,
                "transform": {
                    "location": {
                        "x": -1411.719482421875,
                        "y": 3096.59423828125,
                        "z": 346.096435546875
                    },
                    "rotation": {
                        "roll": 0.045234084129333496,
                        "pitch": 0.8538760542869568,
                        "yaw": 172.77049255371094
                    }
                },
                "velocity": {
                    "x": -22.066041946411133,
                    "y": 2.756518840789795,
                    "z": 0.35720503330230713
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1427.34228515625,
                        "y": 3098.82373046875,
                        "z": 346.313232421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9156209826469421,
                        "yaw": 171.7423858642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9995771050453186,
        "expert_target_speed": 0,
        "target_point": [
            25.37268923169957,
            4.146545521503684
        ],
        "target_point_next": [
            30.177387054308237,
            0.5206021064221951
        ]
    },
    "340": {
        "acceleration": [
            0.0080108642578125,
            -0.35381317138671875,
            0.4678186774253845
        ],
        "angular_velocity": [
            -0.5534748435020447,
            1.2951583862304688,
            1.3337929248809814
        ],
        "forward_vector": [
            -0.9977587461471558,
            0.06680817157030106,
            -0.0037509112153202295
        ],
        "right_vector": [
            -0.0668070837855339,
            -0.997765839099884,
            -0.0004139346710871905
        ],
        "location": [
            -1355.2491455078125,
            3088.14892578125,
            345.5111389160156
        ],
        "rotation": [
            0.023716876283288002,
            -0.21491189301013947,
            176.16929626464844
        ],
        "velocity": [
            -30.520809173583984,
            2.088916540145874,
            -0.13387809693813324
        ],
        "speed": 30.592210853778177,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 62.71688461303711,
        "front_vehicle_info": {
            "id": 3777,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1417.7042236328125,
                3093.833740234375,
                346.1847839355469
            ],
            "velocity": [
                -21.76765251159668,
                2.8846724033355713,
                0.34904783964157104
            ],
            "speed_kmh": 79.05864463892428,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3824,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 23.380373001098633,
                "transform": {
                    "location": {
                        "x": -1319.742431640625,
                        "y": 3081.27685546875,
                        "z": 345.8963928222656
                    },
                    "rotation": {
                        "roll": 0.00038166638114489615,
                        "pitch": -1.2182530164718628,
                        "yaw": 177.3868408203125
                    }
                },
                "velocity": {
                    "x": -23.35503578186035,
                    "y": 1.0094361305236816,
                    "z": -0.40636566281318665
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3823,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 23.322755813598633,
                "transform": {
                    "location": {
                        "x": -1319.724609375,
                        "y": 3084.78125,
                        "z": 345.8928527832031
                    },
                    "rotation": {
                        "roll": 0.0004462401557248086,
                        "pitch": -1.2135264873504639,
                        "yaw": 177.3661346435547
                    }
                },
                "velocity": {
                    "x": -23.29729652404785,
                    "y": 1.0126737356185913,
                    "z": -0.40172135829925537
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3822,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 21.733848571777344,
                "transform": {
                    "location": {
                        "x": -1320.1083984375,
                        "y": 3088.314208984375,
                        "z": 345.92254638671875
                    },
                    "rotation": {
                        "roll": 0.03165633603930473,
                        "pitch": -1.346189260482788,
                        "yaw": 177.18743896484375
                    }
                },
                "velocity": {
                    "x": -21.70789337158203,
                    "y": 0.9857627749443054,
                    "z": -0.394762247800827
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3821,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.233450889587402,
                "transform": {
                    "location": {
                        "x": -1365.1318359375,
                        "y": 3109.2421875,
                        "z": 345.54498291015625
                    },
                    "rotation": {
                        "roll": 0.0008154711686074734,
                        "pitch": 0.08216717094182968,
                        "yaw": -4.855867862701416
                    }
                },
                "velocity": {
                    "x": 8.203380584716797,
                    "y": -0.7028093338012695,
                    "z": -0.017917156219482422
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3820,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.467473030090332,
                "transform": {
                    "location": {
                        "x": -1365.0738525390625,
                        "y": 3105.7236328125,
                        "z": 345.5001525878906
                    },
                    "rotation": {
                        "roll": -0.0001831055269576609,
                        "pitch": -0.017369169741868973,
                        "yaw": -4.870852470397949
                    }
                },
                "velocity": {
                    "x": 8.436487197875977,
                    "y": -0.7235170602798462,
                    "z": -0.017521247267723083
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3819,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.056542873382568,
                "transform": {
                    "location": {
                        "x": -1365.4134521484375,
                        "y": 3102.240966796875,
                        "z": 345.51617431640625
                    },
                    "rotation": {
                        "roll": -0.0014343252405524254,
                        "pitch": -0.1925976574420929,
                        "yaw": -4.900606632232666
                    }
                },
                "velocity": {
                    "x": 7.030576705932617,
                    "y": -0.6045689582824707,
                    "z": -0.016766022890806198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.943021297454834,
                "transform": {
                    "location": {
                        "x": -1321.066162109375,
                        "y": 3106.08984375,
                        "z": 345.84716796875
                    },
                    "rotation": {
                        "roll": -0.0016174287302419543,
                        "pitch": 1.1305601596832275,
                        "yaw": -2.994415521621704
                    }
                },
                "velocity": {
                    "x": 7.930863380432129,
                    "y": -0.4106747806072235,
                    "z": 0.15601590275764465
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.090324401855469,
                "transform": {
                    "location": {
                        "x": -1320.1676025390625,
                        "y": 3102.539306640625,
                        "z": 345.8835144042969
                    },
                    "rotation": {
                        "roll": 0.001802406506612897,
                        "pitch": 1.1302459239959717,
                        "yaw": -2.976440906524658
                    }
                },
                "velocity": {
                    "x": 8.077824592590332,
                    "y": -0.4161670506000519,
                    "z": 0.17002449929714203
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.963070392608643,
                "transform": {
                    "location": {
                        "x": -1318.5672607421875,
                        "y": 3098.94873046875,
                        "z": 345.9107360839844
                    },
                    "rotation": {
                        "roll": -0.0035705550108104944,
                        "pitch": 1.2655247449874878,
                        "yaw": -2.900177240371704
                    }
                },
                "velocity": {
                    "x": 7.95124626159668,
                    "y": -0.3975318372249603,
                    "z": 0.17361146211624146
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3813,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1277.3310546875,
                        "y": 3104.513916015625,
                        "z": 347.27392578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3732993602752686,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3812,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1277.0504150390625,
                        "y": 3101.002197265625,
                        "z": 347.2815856933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3732993602752686,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3811,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1277.739013671875,
                        "y": 3097.521728515625,
                        "z": 347.26470947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3732993602752686,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 21.087162017822266,
                "transform": {
                    "location": {
                        "x": -1417.78857421875,
                        "y": 3090.303955078125,
                        "z": 346.1394348144531
                    },
                    "rotation": {
                        "roll": 0.01264665275812149,
                        "pitch": 0.8958202600479126,
                        "yaw": 172.6103973388672
                    }
                },
                "velocity": {
                    "x": -20.917945861816406,
                    "y": 2.6453285217285156,
                    "z": 0.3319088816642761
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1434.37548828125,
                        "y": 3092.771484375,
                        "z": 346.4097900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9162629842758179,
                        "yaw": 171.5006103515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 21.960735321044922,
                "transform": {
                    "location": {
                        "x": -1417.7042236328125,
                        "y": 3093.833740234375,
                        "z": 346.1847839355469
                    },
                    "rotation": {
                        "roll": 0.052195802330970764,
                        "pitch": 0.8790794610977173,
                        "yaw": 172.29327392578125
                    }
                },
                "velocity": {
                    "x": -21.76765251159668,
                    "y": 2.8846724033355713,
                    "z": 0.34904783964157104
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1434.0029296875,
                        "y": 3096.255859375,
                        "z": 346.4120178222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9162629842758179,
                        "yaw": 171.5006103515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 22.1428279876709,
                "transform": {
                    "location": {
                        "x": -1417.221435546875,
                        "y": 3097.300537109375,
                        "z": 346.1844482421875
                    },
                    "rotation": {
                        "roll": 0.053112972527742386,
                        "pitch": 0.8954855799674988,
                        "yaw": 172.29556274414062
                    }
                },
                "velocity": {
                    "x": -21.946866989135742,
                    "y": 2.9180736541748047,
                    "z": 0.35316765308380127
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1433.5260009765625,
                        "y": 3099.723388671875,
                        "z": 346.41259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9162629842758179,
                        "yaw": 171.5006103515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.999194324016571,
        "expert_target_speed": 0,
        "target_point": [
            17.74245888547072,
            4.037139873025468
        ],
        "target_point_next": [
            22.528867384626842,
            0.3870877507730617
        ]
    },
    "345": {
        "acceleration": [
            -0.00041961669921875,
            -0.6356024742126465,
            0.36098402738571167
        ],
        "angular_velocity": [
            -0.44488465785980225,
            0.2975720465183258,
            1.4198378324508667
        ],
        "forward_vector": [
            -0.9981549978256226,
            0.06071731820702553,
            0.00023531912302132696
        ],
        "right_vector": [
            -0.06071675196290016,
            -0.9981531500816345,
            0.001927061821334064
        ],
        "location": [
            -1362.8812255859375,
            3088.655029296875,
            345.49407958984375
        ],
        "rotation": [
            -0.11041257530450821,
            0.013482792302966118,
            176.51901245117188
        ],
        "velocity": [
            -30.5207576751709,
            1.9522194862365723,
            -0.006046552676707506
        ],
        "speed": 30.583129499594136,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 60.0599365234375,
        "front_vehicle_info": {
            "id": 3777,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1422.6514892578125,
                3094.495849609375,
                346.26629638671875
            ],
            "velocity": [
                -18.183778762817383,
                2.5230491161346436,
                0.2912956774234772
            ],
            "speed_kmh": 66.09706274726022,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3824,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 21.374439239501953,
                "transform": {
                    "location": {
                        "x": -1325.364013671875,
                        "y": 3081.5322265625,
                        "z": 345.7961120605469
                    },
                    "rotation": {
                        "roll": 0.0069290646351873875,
                        "pitch": -1.011100172996521,
                        "yaw": 176.9407501220703
                    }
                },
                "velocity": {
                    "x": -21.34581756591797,
                    "y": 1.0491100549697876,
                    "z": -0.3494293987751007
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3823,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 21.343881607055664,
                "transform": {
                    "location": {
                        "x": -1325.334228515625,
                        "y": 3085.037353515625,
                        "z": 345.7933654785156
                    },
                    "rotation": {
                        "roll": 0.007415718864649534,
                        "pitch": -1.0003631114959717,
                        "yaw": 176.92532348632812
                    }
                },
                "velocity": {
                    "x": -21.315027236938477,
                    "y": 1.0530142784118652,
                    "z": -0.3494121730327606
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3822,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 18.588285446166992,
                "transform": {
                    "location": {
                        "x": -1325.09716796875,
                        "y": 3088.550048828125,
                        "z": 345.8352355957031
                    },
                    "rotation": {
                        "roll": 0.06937742233276367,
                        "pitch": -1.2672117948532104,
                        "yaw": 175.93881225585938
                    }
                },
                "velocity": {
                    "x": -18.558359146118164,
                    "y": 1.0117701292037964,
                    "z": -0.2966098189353943
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3821,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.124018669128418,
                "transform": {
                    "location": {
                        "x": -1363.0640869140625,
                        "y": 3109.065185546875,
                        "z": 345.5423889160156
                    },
                    "rotation": {
                        "roll": 0.0008271654951386154,
                        "pitch": -0.05755800008773804,
                        "yaw": -4.901949405670166
                    }
                },
                "velocity": {
                    "x": 8.094322204589844,
                    "y": -0.6939818263053894,
                    "z": -0.004244212992489338
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3820,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.00986385345459,
                "transform": {
                    "location": {
                        "x": -1363.0113525390625,
                        "y": 3105.547119140625,
                        "z": 345.4971008300781
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": -0.09204362332820892,
                        "yaw": -4.918887615203857
                    }
                },
                "velocity": {
                    "x": 7.980973720550537,
                    "y": -0.679692804813385,
                    "z": -0.000986719154752791
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3819,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.729288101196289,
                "transform": {
                    "location": {
                        "x": -1363.419189453125,
                        "y": 3102.069580078125,
                        "z": 345.51300048828125
                    },
                    "rotation": {
                        "roll": 0.0006446043844334781,
                        "pitch": -0.2500600516796112,
                        "yaw": -4.892092227935791
                    }
                },
                "velocity": {
                    "x": 8.697958946228027,
                    "y": -0.738906979560852,
                    "z": -0.0024577616713941097
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.092391014099121,
                "transform": {
                    "location": {
                        "x": -1319.063720703125,
                        "y": 3105.986083984375,
                        "z": 345.88836669921875
                    },
                    "rotation": {
                        "roll": -0.0006103533669374883,
                        "pitch": 1.206716775894165,
                        "yaw": -2.957642078399658
                    }
                },
                "velocity": {
                    "x": 8.079611778259277,
                    "y": -0.41766878962516785,
                    "z": 0.17946994304656982
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.944466590881348,
                "transform": {
                    "location": {
                        "x": -1318.170654296875,
                        "y": 3102.4375,
                        "z": 345.9263916015625
                    },
                    "rotation": {
                        "roll": 0.004061458166688681,
                        "pitch": 1.2658252716064453,
                        "yaw": -2.9117431640625
                    }
                },
                "velocity": {
                    "x": 7.933143615722656,
                    "y": -0.3859078586101532,
                    "z": 0.175665482878685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.988735675811768,
                "transform": {
                    "location": {
                        "x": -1316.5738525390625,
                        "y": 3098.849853515625,
                        "z": 345.955078125
                    },
                    "rotation": {
                        "roll": -0.0026245128829032183,
                        "pitch": 1.3233354091644287,
                        "yaw": -2.788177728652954
                    }
                },
                "velocity": {
                    "x": 7.977178573608398,
                    "y": -0.38473787903785706,
                    "z": 0.19104033708572388
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 18.942541122436523,
                "transform": {
                    "location": {
                        "x": -1422.6549072265625,
                        "y": 3090.931884765625,
                        "z": 346.2171325683594
                    },
                    "rotation": {
                        "roll": 0.01128231082111597,
                        "pitch": 0.8606584072113037,
                        "yaw": 172.08819580078125
                    }
                },
                "velocity": {
                    "x": -18.77176284790039,
                    "y": 2.5202646255493164,
                    "z": 0.2983933091163635
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1440.5543212890625,
                        "y": 3093.70263671875,
                        "z": 346.5086669921875
                    },
                    "rotation": {
                        "roll": 6.6709602286607605e-09,
                        "pitch": 0.9168981909751892,
                        "yaw": 171.2588348388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 18.360294342041016,
                "transform": {
                    "location": {
                        "x": -1422.6514892578125,
                        "y": 3094.495849609375,
                        "z": 346.26629638671875
                    },
                    "rotation": {
                        "roll": 0.04077834263443947,
                        "pitch": 0.6244704723358154,
                        "yaw": 171.5364532470703
                    }
                },
                "velocity": {
                    "x": -18.183778762817383,
                    "y": 2.5230491161346436,
                    "z": 0.2912956774234772
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1440.18212890625,
                        "y": 3097.186767578125,
                        "z": 346.51123046875
                    },
                    "rotation": {
                        "roll": 6.6709602286607605e-09,
                        "pitch": 0.9168981909751892,
                        "yaw": 171.2588348388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 18.667490005493164,
                "transform": {
                    "location": {
                        "x": -1422.2825927734375,
                        "y": 3097.9814453125,
                        "z": 346.2678527832031
                    },
                    "rotation": {
                        "roll": 0.040377456694841385,
                        "pitch": 0.648369312286377,
                        "yaw": 171.71737670898438
                    }
                },
                "velocity": {
                    "x": -18.489028930664062,
                    "y": 2.5578885078430176,
                    "z": 0.29705238342285156
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1439.7047119140625,
                        "y": 3100.657470703125,
                        "z": 346.5121765136719
                    },
                    "rotation": {
                        "roll": 6.6709602286607605e-09,
                        "pitch": 0.9168981909751892,
                        "yaw": 171.2588348388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9988541007041931,
        "expert_target_speed": 0,
        "target_point": [
            10.118042739841028,
            3.970538878847908
        ],
        "target_point_next": [
            14.882082319249859,
            0.29133873455303894
        ]
    },
    "350": {
        "acceleration": [
            0.03810882568359375,
            -0.6785488128662109,
            0.5539650917053223
        ],
        "angular_velocity": [
            -0.15103831887245178,
            1.474640130996704,
            1.3395214080810547
        ],
        "forward_vector": [
            -0.9985050559043884,
            0.054465800523757935,
            0.0045996736735105515
        ],
        "right_vector": [
            -0.054450780153274536,
            -0.9985108971595764,
            0.0033294428139925003
        ],
        "location": [
            -1370.5130615234375,
            3089.12109375,
            345.5104675292969
        ],
        "rotation": [
            -0.190765380859375,
            0.2635428309440613,
            176.8777618408203
        ],
        "velocity": [
            -30.513999938964844,
            1.777082920074463,
            0.13280704617500305
        ],
        "speed": 30.56570326329769,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 56.74618911743164,
        "front_vehicle_info": {
            "id": 3777,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1426.9365234375,
                3095.108154296875,
                346.333984375
            ],
            "velocity": [
                -16.74622344970703,
                2.6266164779663086,
                0.2678937613964081
            ],
            "speed_kmh": 61.031083703170395,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3824,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 21.353313446044922,
                "transform": {
                    "location": {
                        "x": -1330.6649169921875,
                        "y": 3081.8125,
                        "z": 345.7160339355469
                    },
                    "rotation": {
                        "roll": 0.01290905475616455,
                        "pitch": -0.7352288365364075,
                        "yaw": 176.50164794921875
                    }
                },
                "velocity": {
                    "x": -21.316341400146484,
                    "y": 1.225264072418213,
                    "z": -0.27625152468681335
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3823,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 21.337629318237305,
                "transform": {
                    "location": {
                        "x": -1330.6300048828125,
                        "y": 3085.318603515625,
                        "z": 345.71380615234375
                    },
                    "rotation": {
                        "roll": 0.012808380648493767,
                        "pitch": -0.7305569648742676,
                        "yaw": 176.4964141845703
                    }
                },
                "velocity": {
                    "x": -21.300512313842773,
                    "y": 1.2278271913528442,
                    "z": -0.2739669680595398
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3822,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 18.07094383239746,
                "transform": {
                    "location": {
                        "x": -1329.615966796875,
                        "y": 3088.83740234375,
                        "z": 345.7658996582031
                    },
                    "rotation": {
                        "roll": 0.13160645961761475,
                        "pitch": -0.877740740776062,
                        "yaw": 174.73074340820312
                    }
                },
                "velocity": {
                    "x": -18.017667770385742,
                    "y": 1.36555016040802,
                    "z": -0.24065014719963074
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3821,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.834456443786621,
                "transform": {
                    "location": {
                        "x": -1361.0950927734375,
                        "y": 3108.897705078125,
                        "z": 345.5415954589844
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": 0.004316679202020168,
                        "yaw": -4.861971378326416
                    }
                },
                "velocity": {
                    "x": 7.806514263153076,
                    "y": -0.6610901355743408,
                    "z": -0.0013542270753532648
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3820,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.952821254730225,
                "transform": {
                    "location": {
                        "x": -1361.0438232421875,
                        "y": 3105.3798828125,
                        "z": 345.4961242675781
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": 0.0408923402428627,
                        "yaw": -4.834597110748291
                    }
                },
                "velocity": {
                    "x": 7.924595355987549,
                    "y": -0.6694434881210327,
                    "z": 0.0004310416989028454
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3819,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.097870826721191,
                "transform": {
                    "location": {
                        "x": -1361.315185546875,
                        "y": 3101.89111328125,
                        "z": 345.5107421875
                    },
                    "rotation": {
                        "roll": 0.0010779465083032846,
                        "pitch": 0.05144498124718666,
                        "yaw": -4.850344657897949
                    }
                },
                "velocity": {
                    "x": 8.069093704223633,
                    "y": -0.682083785533905,
                    "z": 0.001704416237771511
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.005091667175293,
                "transform": {
                    "location": {
                        "x": -1317.051513671875,
                        "y": 3105.885986328125,
                        "z": 345.93231201171875
                    },
                    "rotation": {
                        "roll": -0.004180910997092724,
                        "pitch": 1.3196197748184204,
                        "yaw": -2.835632801055908
                    }
                },
                "velocity": {
                    "x": 7.99375057220459,
                    "y": -0.3852675259113312,
                    "z": 0.1816941350698471
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058963775634766,
                "transform": {
                    "location": {
                        "x": -1316.172119140625,
                        "y": 3102.34033203125,
                        "z": 345.9712829589844
                    },
                    "rotation": {
                        "roll": 0.0016557731432840228,
                        "pitch": 1.3100848197937012,
                        "yaw": -2.796295642852783
                    }
                },
                "velocity": {
                    "x": 8.047375679016113,
                    "y": -0.38631609082221985,
                    "z": 0.19339267909526825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.008122444152832,
                "transform": {
                    "location": {
                        "x": -1314.575439453125,
                        "y": 3098.753662109375,
                        "z": 346.003662109375
                    },
                    "rotation": {
                        "roll": -0.0032043473329395056,
                        "pitch": 1.4401521682739258,
                        "yaw": -2.700592517852783
                    }
                },
                "velocity": {
                    "x": 7.996671199798584,
                    "y": -0.3782201409339905,
                    "z": 0.20055533945560455
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 19.405715942382812,
                "transform": {
                    "location": {
                        "x": -1427.38720703125,
                        "y": 3091.585205078125,
                        "z": 346.29217529296875
                    },
                    "rotation": {
                        "roll": 0.007479578722268343,
                        "pitch": 0.9094259738922119,
                        "yaw": 171.73468017578125
                    }
                },
                "velocity": {
                    "x": -19.209672927856445,
                    "y": 2.734311103820801,
                    "z": 0.30631765723228455
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1446.728271484375,
                        "y": 3094.66748046875,
                        "z": 346.60784912109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.917178213596344,
                        "yaw": 171.01705932617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.953079223632812,
                "transform": {
                    "location": {
                        "x": -1426.9365234375,
                        "y": 3095.108154296875,
                        "z": 346.333984375
                    },
                    "rotation": {
                        "roll": 0.05876863747835159,
                        "pitch": 0.7317932844161987,
                        "yaw": 169.87527465820312
                    }
                },
                "velocity": {
                    "x": -16.74622344970703,
                    "y": 2.6266164779663086,
                    "z": 0.2678937613964081
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1446.3560791015625,
                        "y": 3098.15185546875,
                        "z": 346.6106262207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.917178213596344,
                        "yaw": 171.01705932617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.724475860595703,
                "transform": {
                    "location": {
                        "x": -1426.5826416015625,
                        "y": 3098.584716796875,
                        "z": 346.3365173339844
                    },
                    "rotation": {
                        "roll": 0.044054366648197174,
                        "pitch": 0.6895485520362854,
                        "yaw": 169.9929962158203
                    }
                },
                "velocity": {
                    "x": -16.53011703491211,
                    "y": 2.5282251834869385,
                    "z": 0.2671952247619629
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1445.87841796875,
                        "y": 3101.625,
                        "z": 346.61151123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8802747130393982,
                        "yaw": 170.77528381347656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9982152581214905,
        "expert_target_speed": 0,
        "target_point": [
            7.237722657651592,
            0.24784899322272735
        ],
        "target_point_next": [
            12.095789894842135,
            -3.486503020354766
        ]
    },
    "355": {
        "acceleration": [
            0.068206787109375,
            -0.26732444763183594,
            0.6009301543235779
        ],
        "angular_velocity": [
            0.38477447628974915,
            0.7100828886032104,
            -0.3011840581893921
        ],
        "forward_vector": [
            -0.9985635876655579,
            0.05279191955924034,
            0.009151807986199856
        ],
        "right_vector": [
            -0.0527697391808033,
            -0.9986031651496887,
            0.002648665802553296
        ],
        "location": [
            -1378.142578125,
            3089.55078125,
            345.5588073730469
        ],
        "rotation": [
            -0.151763916015625,
            0.5243672728538513,
            176.9737091064453
        ],
        "velocity": [
            -30.5015811920166,
            1.6740237474441528,
            0.2606889605522156
        ],
        "speed": 30.547484523609924,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 53.41507339477539,
        "front_vehicle_info": {
            "id": 3777,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1431.1842041015625,
                3095.799560546875,
                346.4005126953125
            ],
            "velocity": [
                -17.312389373779297,
                2.784090518951416,
                0.2772187292575836
            ],
            "speed_kmh": 63.13324794020207,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 21.72545623779297,
                "transform": {
                    "location": {
                        "x": -1320.0030517578125,
                        "y": 3081.3896484375,
                        "z": 346.2489013671875
                    },
                    "rotation": {
                        "roll": 3.3359233153618106e-09,
                        "pitch": -1.3086572885513306,
                        "yaw": 177.1737518310547
                    }
                },
                "velocity": {
                    "x": -21.64895248413086,
                    "y": 1.0687458515167236,
                    "z": -1.475157380104065
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3826,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 21.716228485107422,
                "transform": {
                    "location": {
                        "x": -1319.9622802734375,
                        "y": 3084.89208984375,
                        "z": 346.24603271484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.302878975868225,
                        "yaw": 177.1673583984375
                    }
                },
                "velocity": {
                    "x": -21.63975715637207,
                    "y": 1.070712685585022,
                    "z": -1.4727691411972046
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3825,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 18.440372467041016,
                "transform": {
                    "location": {
                        "x": -1318.28955078125,
                        "y": 3088.3125,
                        "z": 346.27899169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.353968858718872,
                        "yaw": 177.22384643554688
                    }
                },
                "velocity": {
                    "x": -18.364458084106445,
                    "y": 0.8905015587806702,
                    "z": -1.4145687818527222
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3824,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 21.75650978088379,
                "transform": {
                    "location": {
                        "x": -1336.0621337890625,
                        "y": 3082.139892578125,
                        "z": 345.65618896484375
                    },
                    "rotation": {
                        "roll": 0.012759067118167877,
                        "pitch": -0.5090335011482239,
                        "yaw": 176.1064453125
                    }
                },
                "velocity": {
                    "x": -21.7101993560791,
                    "y": 1.405070424079895,
                    "z": -0.19679901003837585
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3823,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 21.744373321533203,
                "transform": {
                    "location": {
                        "x": -1336.023681640625,
                        "y": 3085.646728515625,
                        "z": 345.65447998046875
                    },
                    "rotation": {
                        "roll": 0.012619981542229652,
                        "pitch": -0.5073464512825012,
                        "yaw": 176.10546875
                    }
                },
                "velocity": {
                    "x": -21.698001861572266,
                    "y": 1.4060724973678589,
                    "z": -0.1934046894311905
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3822,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 18.695158004760742,
                "transform": {
                    "location": {
                        "x": -1334.19384765625,
                        "y": 3089.1962890625,
                        "z": 345.7104187011719
                    },
                    "rotation": {
                        "roll": 0.022475089877843857,
                        "pitch": -0.5316140651702881,
                        "yaw": 175.75054931640625
                    }
                },
                "velocity": {
                    "x": -18.643247604370117,
                    "y": 1.3792901039123535,
                    "z": -0.18925490975379944
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3821,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.155008316040039,
                "transform": {
                    "location": {
                        "x": -1359.099609375,
                        "y": 3108.728759765625,
                        "z": 345.5421447753906
                    },
                    "rotation": {
                        "roll": -0.0003967282536905259,
                        "pitch": 0.07268686592578888,
                        "yaw": -4.841402530670166
                    }
                },
                "velocity": {
                    "x": 8.125919342041016,
                    "y": -0.6881462931632996,
                    "z": 0.006823348812758923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3820,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.141616821289062,
                "transform": {
                    "location": {
                        "x": -1359.0264892578125,
                        "y": 3105.209228515625,
                        "z": 345.4975280761719
                    },
                    "rotation": {
                        "roll": -0.00045776375918649137,
                        "pitch": 0.055249396711587906,
                        "yaw": -4.847658634185791
                    }
                },
                "velocity": {
                    "x": 8.11269760131836,
                    "y": -0.6855905055999756,
                    "z": 0.005728187505155802
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3819,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.876997470855713,
                "transform": {
                    "location": {
                        "x": -1359.344970703125,
                        "y": 3101.724365234375,
                        "z": 345.5119323730469
                    },
                    "rotation": {
                        "roll": 0.0001432760909665376,
                        "pitch": 0.07711966335773468,
                        "yaw": -4.839632034301758
                    }
                },
                "velocity": {
                    "x": 7.848918914794922,
                    "y": -0.6644750833511353,
                    "z": 0.005671252962201834
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3817,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.047690391540527,
                "transform": {
                    "location": {
                        "x": -1315.0496826171875,
                        "y": 3105.789306640625,
                        "z": 345.97979736328125
                    },
                    "rotation": {
                        "roll": -0.0012207046383991838,
                        "pitch": 1.3825531005859375,
                        "yaw": -2.751251459121704
                    }
                },
                "velocity": {
                    "x": 8.035898208618164,
                    "y": -0.38474300503730774,
                    "z": 0.20404961705207825
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3816,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.986056327819824,
                "transform": {
                    "location": {
                        "x": -1314.1680908203125,
                        "y": 3102.24365234375,
                        "z": 346.0207214355469
                    },
                    "rotation": {
                        "roll": -0.0009155294974334538,
                        "pitch": 1.4361292123794556,
                        "yaw": -2.754425287246704
                    }
                },
                "velocity": {
                    "x": 7.974350929260254,
                    "y": -0.3818225860595703,
                    "z": 0.20256730914115906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3815,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.95481014251709,
                "transform": {
                    "location": {
                        "x": -1312.5828857421875,
                        "y": 3098.6611328125,
                        "z": 346.0540466308594
                    },
                    "rotation": {
                        "roll": -0.0025634802877902985,
                        "pitch": 1.5002782344818115,
                        "yaw": -2.599975824356079
                    }
                },
                "velocity": {
                    "x": 7.9439849853515625,
                    "y": -0.3556772470474243,
                    "z": 0.2135377675294876
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3779,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 20.15751838684082,
                "transform": {
                    "location": {
                        "x": -1432.254638671875,
                        "y": 3092.291259765625,
                        "z": 346.3698425292969
                    },
                    "rotation": {
                        "roll": 0.005465799476951361,
                        "pitch": 0.9220618009567261,
                        "yaw": 171.44142150878906
                    }
                },
                "velocity": {
                    "x": -19.93722152709961,
                    "y": 2.954819917678833,
                    "z": 0.3190079629421234
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3778,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1452.8968505859375,
                        "y": 3095.666259765625,
                        "z": 346.7035217285156
                    },
                    "rotation": {
                        "roll": -6.6707883661365486e-09,
                        "pitch": 0.8192743062973022,
                        "yaw": 170.5334930419922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3777,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 17.537012100219727,
                "transform": {
                    "location": {
                        "x": -1431.1842041015625,
                        "y": 3095.799560546875,
                        "z": 346.4005126953125
                    },
                    "rotation": {
                        "roll": 0.02079097181558609,
                        "pitch": 0.9186125993728638,
                        "yaw": 170.6925048828125
                    }
                },
                "velocity": {
                    "x": -17.312389373779297,
                    "y": 2.784090518951416,
                    "z": 0.2772187292575836
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3776,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1452.524658203125,
                        "y": 3099.151611328125,
                        "z": 346.7065124511719
                    },
                    "rotation": {
                        "roll": -6.6707883661365486e-09,
                        "pitch": 0.8192743062973022,
                        "yaw": 170.5334930419922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3775,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 17.186172485351562,
                "transform": {
                    "location": {
                        "x": -1430.7515869140625,
                        "y": 3099.2568359375,
                        "z": 346.40191650390625
                    },
                    "rotation": {
                        "roll": 0.03142968937754631,
                        "pitch": 0.9001711010932922,
                        "yaw": 170.46505737304688
                    }
                },
                "velocity": {
                    "x": -16.96205711364746,
                    "y": 2.7530179023742676,
                    "z": 0.27204790711402893
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3774,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1452.047607421875,
                        "y": 3102.619873046875,
                        "z": 346.7078552246094
                    },
                    "rotation": {
                        "roll": -6.6707883661365486e-09,
                        "pitch": 0.8192743062973022,
                        "yaw": 170.5334930419922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9974547028541565,
        "expert_target_speed": 0,
        "target_point": [
            6.454364964588687,
            -3.5849036552897715
        ],
        "target_point_next": [
            6.454364964588687,
            -3.5849036552897715
        ]
    }
}