{
    "0": {
        "acceleration": [
            0.008480273187160492,
            0.0033473270013928413,
            -0.5751389265060425
        ],
        "angular_velocity": [
            0.03205125778913498,
            0.05504951253533363,
            0.00019054472795687616
        ],
        "forward_vector": [
            0.16038428246974945,
            -0.9870443344116211,
            -0.004509194754064083
        ],
        "right_vector": [
            0.9870544672012329,
            0.16038554906845093,
            8.202459866879508e-05
        ],
        "location": [
            3519.295166015625,
            4311.12744140625,
            367.5843200683594
        ],
        "rotation": [
            -0.004699711222201586,
            -0.2583587169647217,
            -80.77070617675781
        ],
        "velocity": [
            0.0006858678534626961,
            -0.0009941112948581576,
            0.20616976916790009
        ],
        "speed": 0.0012077549333279864,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "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": 0.0001110310695366934,
        "expert_target_speed": 10.0,
        "target_point": [
            51.001073237465526,
            8.59522303535698e-05
        ],
        "target_point_next": [
            65.91133497270364,
            -0.00019837326124338972
        ]
    },
    "5": {
        "acceleration": [
            -0.0015557999722659588,
            0.00118328258395195,
            -0.38343682885169983
        ],
        "angular_velocity": [
            0.02224646508693695,
            0.009525010362267494,
            -1.543240068713203e-05
        ],
        "forward_vector": [
            0.16038362681865692,
            -0.9870439171791077,
            -0.004615170881152153
        ],
        "right_vector": [
            0.9870545268058777,
            0.16038508713245392,
            5.5925684137037024e-05
        ],
        "location": [
            3519.295166015625,
            4311.12744140625,
            367.6166687011719
        ],
        "rotation": [
            -0.0032043398823589087,
            -0.2644307613372803,
            -80.77073669433594
        ],
        "velocity": [
            0.00010894240404013544,
            -0.00040579205960966647,
            0.07212719321250916
        ],
        "speed": 0.00042016144877927487,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000463485717773,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3521.701171875,
                4296.3212890625,
                367.5628967285156
            ],
            "velocity": [
                -0.0002350697759538889,
                0.0016551738372072577,
                -0.3637085258960724
            ],
            "speed_kmh": 1.309364524956177,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 3526.598876953125,
                        "y": 4247.4736328125,
                        "z": 367.45367431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15843988955020905,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4345819652080536,
                "transform": {
                    "location": {
                        "x": 3516.8896484375,
                        "y": 4325.9326171875,
                        "z": 367.7098388671875
                    },
                    "rotation": {
                        "roll": -0.00012206424435134977,
                        "pitch": -0.2644922435283661,
                        "yaw": -80.77071380615234
                    }
                },
                "velocity": {
                    "x": -0.0004425796796567738,
                    "y": 0.0018518740544095635,
                    "z": -0.4345777928829193
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3637123703956604,
                "transform": {
                    "location": {
                        "x": 3521.701171875,
                        "y": 4296.3212890625,
                        "z": 367.5628967285156
                    },
                    "rotation": {
                        "roll": 0.0001503191888332367,
                        "pitch": -0.26959437131881714,
                        "yaw": -80.77067565917969
                    }
                },
                "velocity": {
                    "x": -0.0002350697759538889,
                    "y": 0.0016551738372072577,
                    "z": -0.3637085258960724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3553607165813446,
                "transform": {
                    "location": {
                        "x": 3524.106689453125,
                        "y": 4281.51513671875,
                        "z": 367.4947814941406
                    },
                    "rotation": {
                        "roll": -0.00024414173094555736,
                        "pitch": -0.258392870426178,
                        "yaw": -80.77066802978516
                    }
                },
                "velocity": {
                    "x": -0.00024914892856031656,
                    "y": 0.0015611916314810514,
                    "z": -0.35535719990730286
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -3.7444624467752874e-05,
        "expert_target_speed": 1.0780358266070735,
        "target_point": [
            51.00107323733762,
            0.00014295037135703126
        ],
        "target_point_next": [
            65.91133497288416,
            -0.00012471160422222738
        ]
    },
    "10": {
        "acceleration": [
            0.0034252216573804617,
            0.001339650247246027,
            -0.1220296323299408
        ],
        "angular_velocity": [
            0.003479116363450885,
            0.01399846188724041,
            1.4968930372560862e-05
        ],
        "forward_vector": [
            0.16038371622562408,
            -0.9870437383651733,
            -0.004654629155993462
        ],
        "right_vector": [
            0.9870544672012329,
            0.16038531064987183,
            3.142538480460644e-05
        ],
        "location": [
            3519.295166015625,
            4311.12744140625,
            367.62652587890625
        ],
        "rotation": [
            -0.0018005614401772618,
            -0.26669156551361084,
            -80.7707290649414
        ],
        "velocity": [
            0.00023958201927598566,
            -7.747419294901192e-05,
            0.018989507108926773
        ],
        "speed": 0.00025179712971648327,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000536918640137,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3521.701171875,
                4296.3212890625,
                367.55517578125
            ],
            "velocity": [
                -2.810480054904474e-06,
                -0.00021322596876416355,
                0.04422823339700699
            ],
            "speed_kmh": 0.15922349088661356,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15481112897396088,
                "transform": {
                    "location": {
                        "x": 3526.598876953125,
                        "y": 4247.4736328125,
                        "z": 367.3355712890625
                    },
                    "rotation": {
                        "roll": -0.001800542464479804,
                        "pitch": 0.1626472920179367,
                        "yaw": 99.22923278808594
                    }
                },
                "velocity": {
                    "x": 0.00032163370633497834,
                    "y": -0.00038542039692401886,
                    "z": 0.1548103243112564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02809828147292137,
                "transform": {
                    "location": {
                        "x": 3516.8896484375,
                        "y": 4325.9326171875,
                        "z": 367.6856689453125
                    },
                    "rotation": {
                        "roll": 0.00018032160005532205,
                        "pitch": -0.26611098647117615,
                        "yaw": -80.77071380615234
                    }
                },
                "velocity": {
                    "x": -0.00028264636057429016,
                    "y": -0.00018952283426187932,
                    "z": 0.028096219524741173
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.044228747487068176,
                "transform": {
                    "location": {
                        "x": 3521.701171875,
                        "y": 4296.3212890625,
                        "z": 367.55517578125
                    },
                    "rotation": {
                        "roll": 3.201686524789693e-07,
                        "pitch": -0.2700178623199463,
                        "yaw": -80.77067565917969
                    }
                },
                "velocity": {
                    "x": -2.810480054904474e-06,
                    "y": -0.00021322596876416355,
                    "z": 0.04422823339700699
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04375988245010376,
                "transform": {
                    "location": {
                        "x": 3524.106689453125,
                        "y": 4281.51513671875,
                        "z": 367.48736572265625
                    },
                    "rotation": {
                        "roll": -0.0003967286320403218,
                        "pitch": -0.25963595509529114,
                        "yaw": -80.77066802978516
                    }
                },
                "velocity": {
                    "x": 0.0003721628163475543,
                    "y": -0.00015914753021206707,
                    "z": 0.04375800862908363
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0018674154998734593,
        "expert_target_speed": 1.0254646197556307,
        "target_point": [
            51.00107323738733,
            0.00012395099102313623
        ],
        "target_point_next": [
            65.91133497283315,
            -0.00014926548989535604
        ]
    },
    "15": {
        "acceleration": [
            0.915386974811554,
            -5.357036590576172,
            -0.06640033423900604
        ],
        "angular_velocity": [
            -1.033508062362671,
            -0.2080255150794983,
            0.6173897981643677
        ],
        "forward_vector": [
            0.16250988841056824,
            -0.9867061376571655,
            0.0012389416806399822
        ],
        "right_vector": [
            0.9867069125175476,
            0.16251015663146973,
            0.00011717899906216189
        ],
        "location": [
            3519.32470703125,
            4310.9482421875,
            367.62689208984375
        ],
        "rotation": [
            -0.0067138671875,
            0.07098615169525146,
            -80.64738464355469
        ],
        "velocity": [
            0.22481612861156464,
            -1.3399760723114014,
            -0.0018313979962840676
        ],
        "speed": 1.3587045911643125,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.89964485168457,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3521.71484375,
                4296.24169921875,
                367.5616455078125
            ],
            "velocity": [
                0.18097414076328278,
                -1.0457814931869507,
                0.007724237162619829
            ],
            "speed_kmh": 3.82087087521206,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0863243341445923,
                "transform": {
                    "location": {
                        "x": 3526.584716796875,
                        "y": 4247.55810546875,
                        "z": 367.3636779785156
                    },
                    "rotation": {
                        "roll": -0.0045165917836129665,
                        "pitch": 0.3009586036205292,
                        "yaw": 99.26049041748047
                    }
                },
                "velocity": {
                    "x": -0.18191032111644745,
                    "y": 1.0692684650421143,
                    "z": 0.06061387062072754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9245328307151794,
                "transform": {
                    "location": {
                        "x": 3516.90185546875,
                        "y": 4325.86572265625,
                        "z": 367.6922912597656
                    },
                    "rotation": {
                        "roll": -0.012603756040334702,
                        "pitch": -0.04904075711965561,
                        "yaw": -80.78034973144531
                    }
                },
                "velocity": {
                    "x": 0.16252225637435913,
                    "y": -0.9099269509315491,
                    "z": 0.01950540579855442
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0613529682159424,
                "transform": {
                    "location": {
                        "x": 3521.71484375,
                        "y": 4296.24169921875,
                        "z": 367.5616455078125
                    },
                    "rotation": {
                        "roll": -0.004486079327762127,
                        "pitch": -0.13562022149562836,
                        "yaw": -80.74425506591797
                    }
                },
                "velocity": {
                    "x": 0.18097414076328278,
                    "y": -1.0457814931869507,
                    "z": 0.007724237162619829
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2383357286453247,
                "transform": {
                    "location": {
                        "x": 3524.126220703125,
                        "y": 4281.40576171875,
                        "z": 367.4934997558594
                    },
                    "rotation": {
                        "roll": -0.009307857602834702,
                        "pitch": -0.055543094873428345,
                        "yaw": -80.69628143310547
                    }
                },
                "velocity": {
                    "x": 0.213996022939682,
                    "y": -1.219688057899475,
                    "z": 0.006497659720480442
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0065034483559429646,
        "expert_target_speed": 2.3225082556934002,
        "target_point": [
            50.8193374709729,
            -0.10971373844164667
        ],
        "target_point_next": [
            65.72956405694256,
            -0.1420904150827873
        ]
    },
    "20": {
        "acceleration": [
            0.7796841859817505,
            -4.608912467956543,
            -0.03390711545944214
        ],
        "angular_velocity": [
            -0.2797684669494629,
            -0.08637675642967224,
            0.33062493801116943
        ],
        "forward_vector": [
            0.1636861264705658,
            -0.9865087270736694,
            0.0027142728213220835
        ],
        "right_vector": [
            0.986512303352356,
            0.16368713974952698,
            0.00015233222802635282
        ],
        "location": [
            3519.40185546875,
            4310.48779296875,
            367.6250305175781
        ],
        "rotation": [
            -0.008728026412427425,
            0.15551656484603882,
            -80.57904815673828
        ],
        "velocity": [
            0.3907023072242737,
            -2.3193509578704834,
            -0.009428290650248528
        ],
        "speed": 2.3520283073647517,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.863179206848145,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3521.7900390625,
                4295.81787109375,
                367.56109619140625
            ],
            "velocity": [
                0.3929435908794403,
                -2.2297770977020264,
                -0.008118391036987305
            ],
            "speed_kmh": 8.150940999174427,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1859922409057617,
                "transform": {
                    "location": {
                        "x": 3526.513671875,
                        "y": 4247.97216796875,
                        "z": 367.37139892578125
                    },
                    "rotation": {
                        "roll": -0.003936762921512127,
                        "pitch": 0.33234333992004395,
                        "yaw": 99.36126708984375
                    }
                },
                "velocity": {
                    "x": -0.3694779872894287,
                    "y": 2.1544837951660156,
                    "z": 0.015728645026683807
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9445536136627197,
                "transform": {
                    "location": {
                        "x": 3516.96533203125,
                        "y": 4325.50341796875,
                        "z": 367.6934814453125
                    },
                    "rotation": {
                        "roll": -0.01812744140625,
                        "pitch": 0.13953392207622528,
                        "yaw": -80.587158203125
                    }
                },
                "velocity": {
                    "x": 0.34046968817710876,
                    "y": -1.9145148992538452,
                    "z": -0.001262235571630299
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2641501426696777,
                "transform": {
                    "location": {
                        "x": 3521.7900390625,
                        "y": 4295.81787109375,
                        "z": 367.56109619140625
                    },
                    "rotation": {
                        "roll": -0.009185787290334702,
                        "pitch": -0.08658630400896072,
                        "yaw": -80.4398193359375
                    }
                },
                "velocity": {
                    "x": 0.3929435908794403,
                    "y": -2.2297770977020264,
                    "z": -0.008118391036987305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6722412109375,
                "transform": {
                    "location": {
                        "x": 3524.213134765625,
                        "y": 4280.91162109375,
                        "z": 367.49261474609375
                    },
                    "rotation": {
                        "roll": -0.012847899459302425,
                        "pitch": 0.0305924154818058,
                        "yaw": -80.52171325683594
                    }
                },
                "velocity": {
                    "x": 0.4634263515472412,
                    "y": -2.6317291259765625,
                    "z": -0.010508222505450249
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.010165763087570667,
        "expert_target_speed": 3.2812975696565307,
        "target_point": [
            50.35230348442066,
            -0.1710525624469108
        ],
        "target_point_next": [
            65.26248086135757,
            -0.2212091415306876
        ]
    },
    "25": {
        "acceleration": [
            1.0045409202575684,
            -5.806732177734375,
            -0.03420580178499222
        ],
        "angular_velocity": [
            -0.4808768332004547,
            -0.135578915476799,
            0.3595805764198303
        ],
        "forward_vector": [
            0.16497088968753815,
            -0.9862837195396423,
            0.005381319671869278
        ],
        "right_vector": [
            0.9862978458404541,
            0.1649744212627411,
            0.0002157129201805219
        ],
        "location": [
            3519.53173828125,
            4309.7177734375,
            367.6210021972656
        ],
        "rotation": [
            -0.012359619140625,
            0.30832839012145996,
            -80.50431823730469
        ],
        "velocity": [
            0.6455918550491333,
            -3.8052351474761963,
            -0.017552241683006287
        ],
        "speed": 3.8596118160890183,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.836071014404297,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3521.919189453125,
                4295.0751953125,
                367.5578308105469
            ],
            "velocity": [
                0.6350270509719849,
                -3.7104809284210205,
                -0.01751812919974327
            ],
            "speed_kmh": 13.552092277135243,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7217445373535156,
                "transform": {
                    "location": {
                        "x": 3526.388671875,
                        "y": 4248.6953125,
                        "z": 367.37451171875
                    },
                    "rotation": {
                        "roll": -0.005401589907705784,
                        "pitch": 0.3893480896949768,
                        "yaw": 99.56432342529297
                    }
                },
                "velocity": {
                    "x": -0.6339671611785889,
                    "y": 3.667332410812378,
                    "z": 0.011849192902445793
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0163207054138184,
                "transform": {
                    "location": {
                        "x": 3517.07177734375,
                        "y": 4324.9013671875,
                        "z": 367.69146728515625
                    },
                    "rotation": {
                        "roll": -0.01995849423110485,
                        "pitch": 0.18981777131557465,
                        "yaw": -80.36027526855469
                    }
                },
                "velocity": {
                    "x": 0.5300784707069397,
                    "y": -2.9693572521209717,
                    "z": -0.011232986114919186
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.764470100402832,
                "transform": {
                    "location": {
                        "x": 3521.919189453125,
                        "y": 4295.0751953125,
                        "z": 367.5578308105469
                    },
                    "rotation": {
                        "roll": 6.425481842597947e-05,
                        "pitch": -0.04589886963367462,
                        "yaw": -80.28288269042969
                    }
                },
                "velocity": {
                    "x": 0.6350270509719849,
                    "y": -3.7104809284210205,
                    "z": -0.01751812919974327
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.256547927856445,
                "transform": {
                    "location": {
                        "x": 3524.36181640625,
                        "y": 4280.048828125,
                        "z": 367.4888916015625
                    },
                    "rotation": {
                        "roll": 0.0011722086928784847,
                        "pitch": 0.06981819123029709,
                        "yaw": -80.38153076171875
                    }
                },
                "velocity": {
                    "x": 0.7166649699211121,
                    "y": -4.19574499130249,
                    "z": -0.01777007058262825
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.015127070248126984,
        "expert_target_speed": 4.708938034650823,
        "target_point": [
            49.571141687787275,
            -0.2377806068408992
        ],
        "target_point_next": [
            64.48124098688176,
            -0.3073793517228598
        ]
    },
    "30": {
        "acceleration": [
            0.7929766178131104,
            -4.426116943359375,
            -0.015516765415668488
        ],
        "angular_velocity": [
            0.2291610985994339,
            -0.014666235074400902,
            0.4581731855869293
        ],
        "forward_vector": [
            0.16674663126468658,
            -0.9859854578971863,
            0.005319569725543261
        ],
        "right_vector": [
            0.9859991073608398,
            0.1667504459619522,
            0.00028122588992118835
        ],
        "location": [
            3519.72021484375,
            4308.611328125,
            367.61578369140625
        ],
        "rotation": [
            -0.0161132849752903,
            0.30479034781455994,
            -80.4011459350586
        ],
        "velocity": [
            0.8511232733726501,
            -4.966928482055664,
            -0.02258007973432541
        ],
        "speed": 5.039324297198222,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.843249320983887,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3522.1103515625,
                4293.9619140625,
                367.5527648925781
            ],
            "velocity": [
                0.8754389882087708,
                -5.11169958114624,
                -0.01966268941760063
            ],
            "speed_kmh": 18.670174995460815,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.1520562171936035,
                "transform": {
                    "location": {
                        "x": 3526.19677734375,
                        "y": 4249.7998046875,
                        "z": 367.3779296875
                    },
                    "rotation": {
                        "roll": -0.005157461855560541,
                        "pitch": 0.39489418268203735,
                        "yaw": 99.75563049316406
                    }
                },
                "velocity": {
                    "x": -0.8844601511955261,
                    "y": 5.075525760650635,
                    "z": 0.021240271627902985
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.4261794090271,
                "transform": {
                    "location": {
                        "x": 3517.23095703125,
                        "y": 4323.9716796875,
                        "z": 367.6869812011719
                    },
                    "rotation": {
                        "roll": 0.0026295138522982597,
                        "pitch": 0.3075360953807831,
                        "yaw": -80.32655334472656
                    }
                },
                "velocity": {
                    "x": 0.7466428875923157,
                    "y": -4.362707614898682,
                    "z": -0.019208015874028206
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.186159610748291,
                "transform": {
                    "location": {
                        "x": 3522.1103515625,
                        "y": 4293.9619140625,
                        "z": 367.5527648925781
                    },
                    "rotation": {
                        "roll": -0.0018615704029798508,
                        "pitch": -0.04165049269795418,
                        "yaw": -80.27940368652344
                    }
                },
                "velocity": {
                    "x": 0.8754389882087708,
                    "y": -5.11169958114624,
                    "z": -0.01966268941760063
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.348290920257568,
                "transform": {
                    "location": {
                        "x": 3524.570556640625,
                        "y": 4278.828125,
                        "z": 367.48382568359375
                    },
                    "rotation": {
                        "roll": -0.0029907221905887127,
                        "pitch": 0.009774000383913517,
                        "yaw": -80.3158950805664
                    }
                },
                "velocity": {
                    "x": 0.9024692177772522,
                    "y": -5.271554470062256,
                    "z": -0.021867113187909126
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.024601971730589867,
        "expert_target_speed": 5.795326320694857,
        "target_point": [
            48.44825045302627,
            -0.32838712115639446
        ],
        "target_point_next": [
            63.35820024386215,
            -0.4248357027926275
        ]
    },
    "35": {
        "acceleration": [
            -0.04700183868408203,
            0.4453468322753906,
            -0.0012630224227905273
        ],
        "angular_velocity": [
            1.0177350044250488,
            0.12218432873487473,
            -0.032344698905944824
        ],
        "forward_vector": [
            0.1689707338809967,
            -0.9856186509132385,
            0.002183793345466256
        ],
        "right_vector": [
            0.9856209754943848,
            0.1689712107181549,
            3.515381831675768e-05
        ],
        "location": [
            3519.944091796875,
            4307.28759765625,
            367.6105651855469
        ],
        "rotation": [
            -0.002014170167967677,
            0.12512223422527313,
            -80.2719955444336
        ],
        "velocity": [
            0.9255813956260681,
            -5.487339496612549,
            -0.025762289762496948
        ],
        "speed": 5.56485360732995,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.853079795837402,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3522.33837890625,
                4292.62890625,
                367.5462951660156
            ],
            "velocity": [
                0.9311243295669556,
                -5.434122085571289,
                -0.026241250336170197
            ],
            "speed_kmh": 19.848169611766924,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.539153575897217,
                "transform": {
                    "location": {
                        "x": 3525.96337890625,
                        "y": 4251.14111328125,
                        "z": 367.38189697265625
                    },
                    "rotation": {
                        "roll": 0.005536892917007208,
                        "pitch": 0.27611038088798523,
                        "yaw": 99.89713287353516
                    }
                },
                "velocity": {
                    "x": -0.9388822913169861,
                    "y": 5.458975315093994,
                    "z": 0.017639044672250748
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.409280776977539,
                "transform": {
                    "location": {
                        "x": 3517.444580078125,
                        "y": 4322.72412109375,
                        "z": 367.68170166015625
                    },
                    "rotation": {
                        "roll": -0.0015564069617539644,
                        "pitch": 0.27307096123695374,
                        "yaw": -80.2979507446289
                    }
                },
                "velocity": {
                    "x": 0.9131501317024231,
                    "y": -5.331596374511719,
                    "z": -0.02355078235268593
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.513380527496338,
                "transform": {
                    "location": {
                        "x": 3522.33837890625,
                        "y": 4292.62890625,
                        "z": 367.5462951660156
                    },
                    "rotation": {
                        "roll": -0.0025329641066491604,
                        "pitch": -0.17135578393936157,
                        "yaw": -80.27933502197266
                    }
                },
                "velocity": {
                    "x": 0.9311243295669556,
                    "y": -5.434122085571289,
                    "z": -0.026241250336170197
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.595658302307129,
                "transform": {
                    "location": {
                        "x": 3524.802001953125,
                        "y": 4277.478515625,
                        "z": 367.4779357910156
                    },
                    "rotation": {
                        "roll": -0.004211424849927425,
                        "pitch": -0.14373449981212616,
                        "yaw": -80.25011444091797
                    }
                },
                "velocity": {
                    "x": 0.947261393070221,
                    "y": -5.514841079711914,
                    "z": -0.024856433272361755
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03978170081973076,
        "expert_target_speed": 6.257213827262109,
        "target_point": [
            47.10486171318463,
            -0.4345957913590395
        ],
        "target_point_next": [
            62.01455617659305,
            -0.5646577072112287
        ]
    },
    "40": {
        "acceleration": [
            0.7787561416625977,
            -4.93896484375,
            -0.029236190021038055
        ],
        "angular_velocity": [
            -0.9518499970436096,
            -0.11137792468070984,
            -0.4887755215167999
        ],
        "forward_vector": [
            0.16722391545772552,
            -0.9859180450439453,
            0.0013412232510745525
        ],
        "right_vector": [
            0.9859189391136169,
            0.1672239601612091,
            -7.469992124242708e-05
        ],
        "location": [
            3520.184814453125,
            4305.85888671875,
            367.60400390625
        ],
        "rotation": [
            0.004279993940144777,
            0.07684645056724548,
            -80.37354278564453
        ],
        "velocity": [
            1.0528514385223389,
            -6.275027275085449,
            -0.02953682281076908
        ],
        "speed": 6.362740247304213,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.979094505310059,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3522.6044921875,
                4291.07666015625,
                367.5390625
            ],
            "velocity": [
                1.2510634660720825,
                -7.294665336608887,
                -0.03457045555114746
            ],
            "speed_kmh": 26.64449895986338,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.3442888259887695,
                "transform": {
                    "location": {
                        "x": 3525.69970703125,
                        "y": 4252.68310546875,
                        "z": 367.38671875
                    },
                    "rotation": {
                        "roll": 0.006798233836889267,
                        "pitch": 0.4338604211807251,
                        "yaw": 99.80575561523438
                    }
                },
                "velocity": {
                    "x": -1.2358492612838745,
                    "y": 7.23952579498291,
                    "z": 0.022738466039299965
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.185286521911621,
                "transform": {
                    "location": {
                        "x": 3517.67919921875,
                        "y": 4321.3525390625,
                        "z": 367.6759948730469
                    },
                    "rotation": {
                        "roll": -0.0007934538880363107,
                        "pitch": 0.10896199941635132,
                        "yaw": -80.29051208496094
                    }
                },
                "velocity": {
                    "x": 1.0432441234588623,
                    "y": -6.096603870391846,
                    "z": -0.028804097324609756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.401249408721924,
                "transform": {
                    "location": {
                        "x": 3522.6044921875,
                        "y": 4291.07666015625,
                        "z": 367.5390625
                    },
                    "rotation": {
                        "roll": -0.002838134765625,
                        "pitch": -0.005921773612499237,
                        "yaw": -80.2684097290039
                    }
                },
                "velocity": {
                    "x": 1.2510634660720825,
                    "y": -7.294665336608887,
                    "z": -0.03457045555114746
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.932257652282715,
                "transform": {
                    "location": {
                        "x": 3525.08984375,
                        "y": 4275.80322265625,
                        "z": 367.4707336425781
                    },
                    "rotation": {
                        "roll": -0.0025939990300685167,
                        "pitch": 0.14414431154727936,
                        "yaw": -80.24998474121094
                    }
                },
                "velocity": {
                    "x": 1.3433582782745361,
                    "y": -7.817607879638672,
                    "z": -0.03324532136321068
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04987826570868492,
        "expert_target_speed": 6.990845079617584,
        "target_point": [
            45.65671042364351,
            -0.3495011357419733
        ],
        "target_point_next": [
            60.56661204444024,
            -0.4531290871342897
        ]
    },
    "45": {
        "acceleration": [
            0.4703521728515625,
            -3.2248497009277344,
            -0.006284639239311218
        ],
        "angular_velocity": [
            0.050870630890131,
            0.02288745529949665,
            -0.6480754613876343
        ],
        "forward_vector": [
            0.16476842761039734,
            -0.9863285422325134,
            0.0027254787273705006
        ],
        "right_vector": [
            0.9863322377204895,
            0.1647682934999466,
            -0.00027247631805948913
        ],
        "location": [
            3520.46875,
            4304.15869140625,
            367.59564208984375
        ],
        "rotation": [
            0.015611802227795124,
            0.15615861117839813,
            -80.51618194580078
        ],
        "velocity": [
            1.1972293853759766,
            -7.233636856079102,
            -0.033800214529037476
        ],
        "speed": 7.332043396409604,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.24233627319336,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3522.93701171875,
                4289.11767578125,
                367.52960205078125
            ],
            "velocity": [
                1.38463294506073,
                -8.243755340576172,
                -0.03797551244497299
            ],
            "speed_kmh": 30.09353515806892,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.423385620117188,
                "transform": {
                    "location": {
                        "x": 3525.368896484375,
                        "y": 4254.6279296875,
                        "z": 367.39263916015625
                    },
                    "rotation": {
                        "roll": 0.007665255106985569,
                        "pitch": 0.38049614429473877,
                        "yaw": 99.6340560913086
                    }
                },
                "velocity": {
                    "x": -1.4059520959854126,
                    "y": 8.305180549621582,
                    "z": 0.026467980816960335
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.675251483917236,
                "transform": {
                    "location": {
                        "x": 3517.974609375,
                        "y": 4319.62548828125,
                        "z": 367.6670227050781
                    },
                    "rotation": {
                        "roll": 0.009379520080983639,
                        "pitch": 0.3238328993320465,
                        "yaw": -80.30406188964844
                    }
                },
                "velocity": {
                    "x": 1.2793718576431274,
                    "y": -7.567793369293213,
                    "z": -0.034599192440509796
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.359314918518066,
                "transform": {
                    "location": {
                        "x": 3522.93701171875,
                        "y": 4289.11767578125,
                        "z": 367.52960205078125
                    },
                    "rotation": {
                        "roll": 0.010120879858732224,
                        "pitch": -0.08300045132637024,
                        "yaw": -80.46194458007812
                    }
                },
                "velocity": {
                    "x": 1.38463294506073,
                    "y": -8.243755340576172,
                    "z": -0.03797551244497299
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.2147798538208,
                "transform": {
                    "location": {
                        "x": 3525.43798828125,
                        "y": 4273.75048828125,
                        "z": 367.4620666503906
                    },
                    "rotation": {
                        "roll": 0.013226648792624474,
                        "pitch": -0.09460494667291641,
                        "yaw": -80.40396118164062
                    }
                },
                "velocity": {
                    "x": 1.3618906736373901,
                    "y": -8.101035118103027,
                    "z": -0.03313137963414192
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04380350559949875,
        "expert_target_speed": 7.802176476457687,
        "target_point": [
            43.93369771214371,
            -0.23578806301878963
        ],
        "target_point_next": [
            58.84381106054207,
            -0.30230897747232355
        ]
    },
    "50": {
        "acceleration": [
            0.3142356872558594,
            -2.534666061401367,
            -0.009833425283432007
        ],
        "angular_velocity": [
            0.374776154756546,
            0.07786876708269119,
            -0.6736266613006592
        ],
        "forward_vector": [
            0.16202376782894135,
            -0.9867848753929138,
            0.0019549117423594
        ],
        "right_vector": [
            0.9867867827415466,
            0.16202321648597717,
            -0.0004435388254933059
        ],
        "location": [
            3520.782958984375,
            4302.2451171875,
            367.5868225097656
        ],
        "rotation": [
            0.025412950664758682,
            0.11200826615095139,
            -80.67559814453125
        ],
        "velocity": [
            1.3005727529525757,
            -7.991549015045166,
            -0.037571538239717484
        ],
        "speed": 8.096687294541638,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.322881698608398,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3523.26953125,
                4287.12548828125,
                367.51995849609375
            ],
            "velocity": [
                1.2510457038879395,
                -7.518523216247559,
                -0.03592968359589577
            ],
            "speed_kmh": 27.439132375610704,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.647643089294434,
                "transform": {
                    "location": {
                        "x": 3524.993896484375,
                        "y": 4256.86083984375,
                        "z": 367.39984130859375
                    },
                    "rotation": {
                        "roll": 0.011963710188865662,
                        "pitch": 0.38776347041130066,
                        "yaw": 99.50968170166016
                    }
                },
                "velocity": {
                    "x": -1.5864022970199585,
                    "y": 9.51627254486084,
                    "z": 0.030111074447631836
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.5513224601745605,
                "transform": {
                    "location": {
                        "x": 3518.29296875,
                        "y": 4317.73388671875,
                        "z": 367.65960693359375
                    },
                    "rotation": {
                        "roll": 0.018438702449202538,
                        "pitch": -0.034608565270900726,
                        "yaw": -80.45857238769531
                    }
                },
                "velocity": {
                    "x": 1.2453693151474,
                    "y": -7.447847843170166,
                    "z": -0.03302997350692749
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.621981143951416,
                "transform": {
                    "location": {
                        "x": 3523.26953125,
                        "y": 4287.12548828125,
                        "z": 367.51995849609375
                    },
                    "rotation": {
                        "roll": 0.007970835082232952,
                        "pitch": -0.3040800094604492,
                        "yaw": -80.71614837646484
                    }
                },
                "velocity": {
                    "x": 1.2510457038879395,
                    "y": -7.518523216247559,
                    "z": -0.03592968359589577
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.531120777130127,
                "transform": {
                    "location": {
                        "x": 3525.7607421875,
                        "y": 4271.8203125,
                        "z": 367.4541015625
                    },
                    "rotation": {
                        "roll": 0.008476120419800282,
                        "pitch": -0.30823275446891785,
                        "yaw": -80.50917053222656
                    }
                },
                "velocity": {
                    "x": 1.2388662099838257,
                    "y": -7.428465843200684,
                    "z": -0.02965952828526497
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.035114586353302,
        "expert_target_speed": 8.326067181463285,
        "target_point": [
            41.994984516993696,
            -0.11355076639435069
        ],
        "target_point_next": [
            56.90522524238668,
            -0.13858284539899657
        ]
    },
    "55": {
        "acceleration": [
            -0.02229928970336914,
            -0.4376411437988281,
            -0.003199353814125061
        ],
        "angular_velocity": [
            0.6204698085784912,
            0.16355709731578827,
            -0.6834877133369446
        ],
        "forward_vector": [
            0.15910036861896515,
            -0.9872621297836304,
            -0.0007430313853546977
        ],
        "right_vector": [
            0.9872621893882751,
            0.15910080075263977,
            -0.0005617935094051063
        ],
        "location": [
            3521.11181640625,
            4300.20947265625,
            367.5777587890625
        ],
        "rotation": [
            0.03218841180205345,
            -0.042572565376758575,
            -80.8453140258789
        ],
        "velocity": [
            1.317765474319458,
            -8.243756294250488,
            -0.037528011947870255
        ],
        "speed": 8.348414441335727,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.065469741821289,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3523.56494140625,
                4285.34521484375,
                367.5114440917969
            ],
            "velocity": [
                1.1383509635925293,
                -6.878159046173096,
                -0.033288825303316116
            ],
            "speed_kmh": 25.098487148221654,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.835978507995605,
                "transform": {
                    "location": {
                        "x": 3524.5732421875,
                        "y": 4259.39794921875,
                        "z": 367.4083251953125
                    },
                    "rotation": {
                        "roll": 0.00871010310947895,
                        "pitch": 0.38722389936447144,
                        "yaw": 99.384521484375
                    }
                },
                "velocity": {
                    "x": -1.7666974067687988,
                    "y": 10.690927505493164,
                    "z": 0.03587720915675163
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.859869003295898,
                "transform": {
                    "location": {
                        "x": 3518.60595703125,
                        "y": 4315.86083984375,
                        "z": 367.65130615234375
                    },
                    "rotation": {
                        "roll": 0.00999510008841753,
                        "pitch": -0.13046343624591827,
                        "yaw": -80.52144622802734
                    }
                },
                "velocity": {
                    "x": 1.2923287153244019,
                    "y": -7.752819061279297,
                    "z": -0.03500296548008919
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.9718017578125,
                "transform": {
                    "location": {
                        "x": 3523.56494140625,
                        "y": 4285.34521484375,
                        "z": 367.5114440917969
                    },
                    "rotation": {
                        "roll": 0.005086871329694986,
                        "pitch": -0.36245763301849365,
                        "yaw": -80.78389739990234
                    }
                },
                "velocity": {
                    "x": 1.1383509635925293,
                    "y": -6.878159046173096,
                    "z": -0.033288825303316116
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.443339824676514,
                "transform": {
                    "location": {
                        "x": 3526.066162109375,
                        "y": 4269.984375,
                        "z": 367.44677734375
                    },
                    "rotation": {
                        "roll": 0.008052606135606766,
                        "pitch": -0.25570178031921387,
                        "yaw": -80.56611633300781
                    }
                },
                "velocity": {
                    "x": 1.2138341665267944,
                    "y": -7.3436431884765625,
                    "z": -0.028587903827428818
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.8747040629386902,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.027109669521450996,
        "expert_target_speed": 8.443600985198092,
        "target_point": [
            39.93309996409712,
            0.010042058395364428
        ],
        "target_point_next": [
            54.84334942721117,
            0.029174278700251577
        ]
    },
    "60": {
        "acceleration": [
            0.1147603988647461,
            -1.1031341552734375,
            -0.011603310704231262
        ],
        "angular_velocity": [
            0.1531655490398407,
            0.03537535294890404,
            -0.5161084532737732
        ],
        "forward_vector": [
            0.1563398540019989,
            -0.9877005219459534,
            -0.002362725790590048
        ],
        "right_vector": [
            0.9877029061317444,
            0.156341552734375,
            -0.000553885824047029
        ],
        "location": [
            3521.443115234375,
            4298.123046875,
            367.568359375
        ],
        "rotation": [
            0.031735409051179886,
            -0.13537433743476868,
            -81.00546264648438
        ],
        "velocity": [
            1.3299474716186523,
            -8.450472831726074,
            -0.0385754369199276
        ],
        "speed": 8.55448720596421,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.716266632080078,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3523.849365234375,
                4283.60498046875,
                367.50347900390625
            ],
            "velocity": [
                1.1592694520950317,
                -7.1254448890686035,
                -0.03292208909988403
            ],
            "speed_kmh": 25.98914636808801,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.778483390808105,
                "transform": {
                    "location": {
                        "x": 3524.1298828125,
                        "y": 4262.08935546875,
                        "z": 367.41748046875
                    },
                    "rotation": {
                        "roll": 0.008112873882055283,
                        "pitch": 0.24905601143836975,
                        "yaw": 99.3339614868164
                    }
                },
                "velocity": {
                    "x": -1.7451612949371338,
                    "y": 10.636198043823242,
                    "z": 0.03745003789663315
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.392254829406738,
                "transform": {
                    "location": {
                        "x": 3518.943115234375,
                        "y": 4313.82763671875,
                        "z": 367.64154052734375
                    },
                    "rotation": {
                        "roll": 0.016881117597222328,
                        "pitch": -0.04889732226729393,
                        "yaw": -80.58736419677734
                    }
                },
                "velocity": {
                    "x": 1.3657866716384888,
                    "y": -8.280288696289062,
                    "z": -0.03739132359623909
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.219207286834717,
                "transform": {
                    "location": {
                        "x": 3523.849365234375,
                        "y": 4283.60498046875,
                        "z": 367.50347900390625
                    },
                    "rotation": {
                        "roll": 0.006977878510951996,
                        "pitch": -0.2497526854276657,
                        "yaw": -80.93775939941406
                    }
                },
                "velocity": {
                    "x": 1.1592694520950317,
                    "y": -7.1254448890686035,
                    "z": -0.03292208909988403
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.233327865600586,
                "transform": {
                    "location": {
                        "x": 3526.3662109375,
                        "y": 4268.1650390625,
                        "z": 367.43975830078125
                    },
                    "rotation": {
                        "roll": 0.005038250237703323,
                        "pitch": -0.2604282796382904,
                        "yaw": -80.63785552978516
                    }
                },
                "velocity": {
                    "x": 1.1743723154067993,
                    "y": -7.137298583984375,
                    "z": -0.029110349714756012
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.355380117893219,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.013772265054285526,
        "expert_target_speed": 8.564703890979054,
        "target_point": [
            37.820351028873006,
            0.12062383439226831
        ],
        "target_point_next": [
            52.73048877544886,
            0.18143067841873162
        ]
    },
    "65": {
        "acceleration": [
            -0.20222902297973633,
            1.6661453247070312,
            0.01534201204776764
        ],
        "angular_velocity": [
            0.7315664291381836,
            0.015993647277355194,
            0.1797100007534027
        ],
        "forward_vector": [
            0.1553848534822464,
            -0.9878448843955994,
            -0.004244552925229073
        ],
        "right_vector": [
            0.9878536462783813,
            0.1553870588541031,
            -0.00019057095050811768
        ],
        "location": [
            3521.77490234375,
            4296.01513671875,
            367.5588684082031
        ],
        "rotation": [
            0.01091900933533907,
            -0.24319569766521454,
            -81.06079864501953
        ],
        "velocity": [
            1.3125454187393188,
            -8.320246696472168,
            -0.04060924053192139
        ],
        "speed": 8.423139590818236,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.359044075012207,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3524.13525390625,
                4281.8515625,
                367.4953308105469
            ],
            "velocity": [
                1.1058892011642456,
                -6.76780891418457,
                -0.03082779422402382
            ],
            "speed_kmh": 24.687491507861964,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.568838119506836,
                "transform": {
                    "location": {
                        "x": 3523.701171875,
                        "y": 4264.70751953125,
                        "z": 367.42694091796875
                    },
                    "rotation": {
                        "roll": 0.006621966138482094,
                        "pitch": 0.19347192347049713,
                        "yaw": 99.27682495117188
                    }
                },
                "velocity": {
                    "x": -1.7052162885665894,
                    "y": 10.430299758911133,
                    "z": 0.037907324731349945
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.157411575317383,
                "transform": {
                    "location": {
                        "x": 3519.278564453125,
                        "y": 4311.7900390625,
                        "z": 367.6328125
                    },
                    "rotation": {
                        "roll": 0.01033919770270586,
                        "pitch": -0.2421848326921463,
                        "yaw": -80.65398406982422
                    }
                },
                "velocity": {
                    "x": 1.3224055767059326,
                    "y": -8.049424171447754,
                    "z": -0.037187933921813965
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.857636451721191,
                "transform": {
                    "location": {
                        "x": 3524.13525390625,
                        "y": 4281.8515625,
                        "z": 367.4953308105469
                    },
                    "rotation": {
                        "roll": 0.0016688446048647165,
                        "pitch": -0.30779561400413513,
                        "yaw": -80.95335388183594
                    }
                },
                "velocity": {
                    "x": 1.1058892011642456,
                    "y": -6.76780891418457,
                    "z": -0.03082779422402382
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.861629009246826,
                "transform": {
                    "location": {
                        "x": 3526.65087890625,
                        "y": 4266.4326171875,
                        "z": 367.43316650390625
                    },
                    "rotation": {
                        "roll": 0.003050717059522867,
                        "pitch": -0.28323426842689514,
                        "yaw": -80.66468811035156
                    }
                },
                "velocity": {
                    "x": 1.1113758087158203,
                    "y": -6.770976543426514,
                    "z": -0.025971611961722374
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.289499431848526,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.007891274988651276,
        "expert_target_speed": 8.422098597689471,
        "target_point": [
            35.68635466825131,
            0.1569402220388696
        ],
        "target_point_next": [
            50.59642671998624,
            0.23214997020855854
        ]
    },
    "70": {
        "acceleration": [
            -0.17295360565185547,
            1.416463851928711,
            0.026805251836776733
        ],
        "angular_velocity": [
            0.3287389278411865,
            0.01215115562081337,
            0.3326900899410248
        ],
        "forward_vector": [
            0.15666073560714722,
            -0.9876301884651184,
            -0.006641934625804424
        ],
        "right_vector": [
            0.987652063369751,
            0.15666361153125763,
            8.788168634055182e-05
        ],
        "location": [
            3522.09619140625,
            4293.9873046875,
            367.5495910644531
        ],
        "rotation": [
            -0.005035360809415579,
            -0.3805576264858246,
            -80.9866714477539
        ],
        "velocity": [
            1.2607460021972656,
            -7.91684103012085,
            -0.0376589298248291
        ],
        "speed": 8.01659855414136,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.997894287109375,
        "front_vehicle_info": {
            "id": 4308,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3524.4072265625,
                4280.181640625,
                367.48785400390625
            ],
            "velocity": [
                1.1089519262313843,
                -6.844999313354492,
                -0.029916005209088326
            ],
            "speed_kmh": 24.963523726565715,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.127084732055664,
                "transform": {
                    "location": {
                        "x": 3517.0439453125,
                        "y": 4324.982421875,
                        "z": 368.044677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.26061952114105225,
                        "yaw": -80.77073669433594
                    }
                },
                "velocity": {
                    "x": 1.2932238578796387,
                    "y": -7.958859920501709,
                    "z": -1.0166748762130737
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.727810859680176,
                "transform": {
                    "location": {
                        "x": 3523.271728515625,
                        "y": 4267.337890625,
                        "z": 367.4367980957031
                    },
                    "rotation": {
                        "roll": 0.003950257319957018,
                        "pitch": 0.23708951473236084,
                        "yaw": 99.2711410522461
                    }
                },
                "velocity": {
                    "x": -1.725380778312683,
                    "y": 10.588075637817383,
                    "z": 0.040491025894880295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.922260284423828,
                "transform": {
                    "location": {
                        "x": 3519.60546875,
                        "y": 4309.80224609375,
                        "z": 367.6239013671875
                    },
                    "rotation": {
                        "roll": 0.00677821971476078,
                        "pitch": -0.3284023106098175,
                        "yaw": -80.67569732666016
                    }
                },
                "velocity": {
                    "x": 1.2800201177597046,
                    "y": -7.818081378936768,
                    "z": -0.03692791983485222
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4308,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.934312343597412,
                "transform": {
                    "location": {
                        "x": 3524.4072265625,
                        "y": 4280.181640625,
                        "z": 367.48785400390625
                    },
                    "rotation": {
                        "roll": 0.0037205126136541367,
                        "pitch": -0.2451491355895996,
                        "yaw": -80.99534606933594
                    }
                },
                "velocity": {
                    "x": 1.1089519262313843,
                    "y": -6.844999313354492,
                    "z": -0.029916005209088326
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4307,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.7229790687561035,
                "transform": {
                    "location": {
                        "x": 3526.92529296875,
                        "y": 4264.7587890625,
                        "z": 367.42694091796875
                    },
                    "rotation": {
                        "roll": 0.002258985536172986,
                        "pitch": -0.2447803020477295,
                        "yaw": -80.69268798828125
                    }
                },
                "velocity": {
                    "x": 1.0853338241577148,
                    "y": -6.63474702835083,
                    "z": -0.025105370208621025
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.9150277972221375,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.006759203039109707,
        "expert_target_speed": 8.11973022794136,
        "target_point": [
            33.63340115344725,
            0.11113230800474483
        ],
        "target_point_next": [
            48.543558037865914,
            0.16704989172775608
        ]
    },
    "75": {
        "acceleration": [
            -0.29656171798706055,
            2.097606658935547,
            -0.0058682262897491455
        ],
        "angular_velocity": [
            0.2260715663433075,
            -0.006921944674104452,
            0.308692067861557
        ],
        "forward_vector": [
            0.1580362170934677,
            -0.9874027371406555,
            -0.007769982796162367
        ],
        "right_vector": [
            0.9874327778816223,
            0.15803934633731842,
            0.00021357880905270576
        ],
        "location": [
            3522.40234375,
            4292.0712890625,
            367.5408630371094
        ],
        "rotation": [
            -0.012237533926963806,
            -0.44519171118736267,
            -80.90679168701172
        ],
        "velocity": [
            1.1964592933654785,
            -7.445040225982666,
            -0.03687932714819908
        ],
        "speed": 7.540566212638189,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3452.84716796875,
                        "y": 4227.2626953125,
                        "z": 366.57818603515625
                    },
                    "rotation": {
                        "roll": 6.670650698481495e-09,
                        "pitch": 0.7321074604988098,
                        "yaw": 8.988388061523438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 3547.252197265625,
                        "y": 4242.1953125,
                        "z": 367.6455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5212595462799072,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3479.3486328125,
                        "y": 4231.4541015625,
                        "z": 366.9747314453125
                    },
                    "rotation": {
                        "roll": -3.3353080297615634e-09,
                        "pitch": 0.7080378532409668,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.515373706817627,
                "transform": {
                    "location": {
                        "x": 3517.325927734375,
                        "y": 4323.259765625,
                        "z": 367.6473083496094
                    },
                    "rotation": {
                        "roll": -0.027099592611193657,
                        "pitch": -1.2678537368774414,
                        "yaw": -80.68968200683594
                    }
                },
                "velocity": {
                    "x": 0.5802080035209656,
                    "y": -3.423151731491089,
                    "z": -0.5506757497787476
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.683439254760742,
                "transform": {
                    "location": {
                        "x": 3522.841064453125,
                        "y": 4269.98193359375,
                        "z": 367.4471435546875
                    },
                    "rotation": {
                        "roll": 0.0035330886021256447,
                        "pitch": 0.22321739792823792,
                        "yaw": 99.23196411132812
                    }
                },
                "velocity": {
                    "x": -1.7156426906585693,
                    "y": 10.54470157623291,
                    "z": 0.04146312549710274
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.36033821105957,
                "transform": {
                    "location": {
                        "x": 3519.91357421875,
                        "y": 4307.9189453125,
                        "z": 367.6154479980469
                    },
                    "rotation": {
                        "roll": 0.005073966458439827,
                        "pitch": -0.4406769573688507,
                        "yaw": -80.71311950683594
                    }
                },
                "velocity": {
                    "x": 1.186523199081421,
                    "y": -7.26399040222168,
                    "z": -0.03439579904079437
                },
                "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": -0.005735577549785376,
        "expert_target_speed": 8.216354289962027,
        "target_point": [
            31.693202596839953,
            0.06473997192066339
        ],
        "target_point_next": [
            46.603422955538186,
            0.0998675850977655
        ]
    },
    "80": {
        "acceleration": [
            0.0001430511474609375,
            0.28079986572265625,
            0.02315141260623932
        ],
        "angular_velocity": [
            -0.33838024735450745,
            -0.08236599713563919,
            0.30345797538757324
        ],
        "forward_vector": [
            0.15935340523719788,
            -0.987193763256073,
            -0.0074098617769777775
        ],
        "right_vector": [
            0.9872211813926697,
            0.15935605764389038,
            0.00023648211208637804
        ],
        "location": [
            3522.6962890625,
            4290.25,
            367.531982421875
        ],
        "rotation": [
            -0.013549800030887127,
            -0.42455771565437317,
            -80.83037567138672
        ],
        "velocity": [
            1.1643221378326416,
            -7.180008411407471,
            -0.03376078978180885
        ],
        "speed": 7.273800026707443,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3455.958984375,
                        "y": 4227.7548828125,
                        "z": 366.580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7346346378326416,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.01669440045952797,
                "transform": {
                    "location": {
                        "x": 3547.252685546875,
                        "y": 4242.1953125,
                        "z": 367.52642822265625
                    },
                    "rotation": {
                        "roll": 0.0003387154429219663,
                        "pitch": 0.5233290791511536,
                        "yaw": 8.988414764404297
                    }
                },
                "velocity": {
                    "x": 0.00016459435573779047,
                    "y": -0.00018115038983523846,
                    "z": -0.01669260673224926
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3482.428955078125,
                        "y": 4231.94091796875,
                        "z": 366.9028015136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.677192747592926,
                        "yaw": 8.988388061523438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.055407762527466,
                "transform": {
                    "location": {
                        "x": 3517.454345703125,
                        "y": 4322.5126953125,
                        "z": 367.6435546875
                    },
                    "rotation": {
                        "roll": -0.022735534235835075,
                        "pitch": -1.1998865604400635,
                        "yaw": -80.49041748046875
                    }
                },
                "velocity": {
                    "x": 0.5230528116226196,
                    "y": -3.0070137977600098,
                    "z": 0.1407145857810974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.667524337768555,
                "transform": {
                    "location": {
                        "x": 3522.4130859375,
                        "y": 4272.61376953125,
                        "z": 367.4577331542969
                    },
                    "rotation": {
                        "roll": 0.0011016973294317722,
                        "pitch": 0.23496532440185547,
                        "yaw": 99.24637603759766
                    }
                },
                "velocity": {
                    "x": -1.7120164632797241,
                    "y": 10.529163360595703,
                    "z": 0.042355287820100784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.516202926635742,
                "transform": {
                    "location": {
                        "x": 3520.193115234375,
                        "y": 4306.20751953125,
                        "z": 367.60797119140625
                    },
                    "rotation": {
                        "roll": 0.003161280881613493,
                        "pitch": -0.5715979933738708,
                        "yaw": -80.72962951660156
                    }
                },
                "velocity": {
                    "x": 1.0496379137039185,
                    "y": -6.43103551864624,
                    "z": -0.03073614463210106
                },
                "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": -0.009556452743709087,
        "expert_target_speed": 8.001709636004621,
        "target_point": [
            29.84840366024327,
            0.022518528647689884
        ],
        "target_point_next": [
            44.758657607786745,
            0.03776037600808024
        ]
    },
    "85": {
        "acceleration": [
            0.2969241142272949,
            -1.6020774841308594,
            -0.006811171770095825
        ],
        "angular_velocity": [
            -0.7613967657089233,
            -0.15806666016578674,
            0.30915600061416626
        ],
        "forward_vector": [
            0.1606632024049759,
            -0.986997127532959,
            -0.004910329822450876
        ],
        "right_vector": [
            0.9870091080665588,
            0.1606639325618744,
            0.0002466056030243635
        ],
        "location": [
            3522.990478515625,
            4288.4423828125,
            367.52288818359375
        ],
        "rotation": [
            -0.014129631221294403,
            -0.2813422977924347,
            -80.7544937133789
        ],
        "velocity": [
            1.2068074941635132,
            -7.380781173706055,
            -0.03398627042770386
        ],
        "speed": 7.4787910160735835,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3458.797119140625,
                        "y": 4228.20361328125,
                        "z": 366.5883483886719
                    },
                    "rotation": {
                        "roll": -6.670658692087272e-09,
                        "pitch": 0.7371686100959778,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.016760004684329033,
                "transform": {
                    "location": {
                        "x": 3547.252685546875,
                        "y": 4242.1953125,
                        "z": 367.53082275390625
                    },
                    "rotation": {
                        "roll": 0.0004343487962614745,
                        "pitch": 0.5238345265388489,
                        "yaw": 8.988450050354004
                    }
                },
                "velocity": {
                    "x": -0.00021208770340308547,
                    "y": 8.53332385304384e-05,
                    "z": 0.016758445650339127
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.19890022277832,
                "transform": {
                    "location": {
                        "x": 3485.18408203125,
                        "y": 4232.376953125,
                        "z": 366.9259948730469
                    },
                    "rotation": {
                        "roll": -0.000793453655205667,
                        "pitch": 0.8363566398620605,
                        "yaw": 8.98935317993164
                    }
                },
                "velocity": {
                    "x": 10.073216438293457,
                    "y": 1.5944889783859253,
                    "z": 0.07405053824186325
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.979696035385132,
                "transform": {
                    "location": {
                        "x": 3517.584716796875,
                        "y": 4321.7607421875,
                        "z": 367.66650390625
                    },
                    "rotation": {
                        "roll": -0.01232909131795168,
                        "pitch": -0.5895682573318481,
                        "yaw": -80.34767150878906
                    }
                },
                "velocity": {
                    "x": 0.5120453238487244,
                    "y": -2.9347872734069824,
                    "z": 0.05849335715174675
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.68994426727295,
                "transform": {
                    "location": {
                        "x": 3521.984619140625,
                        "y": 4275.25,
                        "z": 367.4686584472656
                    },
                    "rotation": {
                        "roll": 0.001349934726022184,
                        "pitch": 0.2415359616279602,
                        "yaw": 99.22172546386719
                    }
                },
                "velocity": {
                    "x": -1.7151774168014526,
                    "y": 10.55135440826416,
                    "z": 0.04473274201154709
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0662081241607666,
                "transform": {
                    "location": {
                        "x": 3520.369384765625,
                        "y": 4305.12548828125,
                        "z": 367.606201171875
                    },
                    "rotation": {
                        "roll": 0.0004304578760638833,
                        "pitch": -1.542604923248291,
                        "yaw": -80.69584655761719
                    }
                },
                "velocity": {
                    "x": 0.3330639898777008,
                    "y": -2.039156675338745,
                    "z": -0.011149272322654724
                },
                "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": -0.00850849412381649,
        "expert_target_speed": 8.158916894845694,
        "target_point": [
            28.017006935487313,
            -0.016954574423923674
        ],
        "target_point_next": [
            42.927267993510014,
            -0.021457435562708405
        ]
    },
    "90": {
        "acceleration": [
            0.5875062942504883,
            -3.2725143432617188,
            -0.013673156499862671
        ],
        "angular_velocity": [
            -0.701390266418457,
            -0.13761186599731445,
            0.33109185099601746
        ],
        "forward_vector": [
            0.1620369702577591,
            -0.9867835640907288,
            -0.0014770025154575706
        ],
        "right_vector": [
            0.9867846369743347,
            0.1620367169380188,
            0.00028762107831425965
        ],
        "location": [
            3523.307373046875,
            4286.51123046875,
            367.51312255859375
        ],
        "rotation": [
            -0.0164794921875,
            -0.08462604135274887,
            -80.67484283447266
        ],
        "velocity": [
            1.3300018310546875,
            -8.06441593170166,
            -0.03770734742283821
        ],
        "speed": 8.173353607307858,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 68.94824981689453,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3577.5498046875,
                4243.95068359375,
                367.9816589355469
            ],
            "velocity": [
                6.267604657494985e-09,
                9.913887488721684e-10,
                -1.9600002765655518
            ],
            "speed_kmh": 7.056000995635986,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 3577.5498046875,
                        "y": 4243.95068359375,
                        "z": 367.9816589355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5571863055229187,
                        "yaw": -171.0115966796875
                    }
                },
                "velocity": {
                    "x": 6.267604657494985e-09,
                    "y": 9.913887488721684e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3535.733642578125,
                        "y": 4191.25634765625,
                        "z": 367.4011535644531
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.072987399995327,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3628.82177734375,
                        "y": 4255.09716796875,
                        "z": 368.3852233886719
                    },
                    "rotation": {
                        "roll": -3.335151710359696e-09,
                        "pitch": 0.4403149485588074,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3461.7509765625,
                        "y": 4228.6708984375,
                        "z": 366.62213134765625
                    },
                    "rotation": {
                        "roll": -6.670658692087272e-09,
                        "pitch": 0.7371686100959778,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3303982019424438,
                "transform": {
                    "location": {
                        "x": 3547.430908203125,
                        "y": 4242.22314453125,
                        "z": 367.53375244140625
                    },
                    "rotation": {
                        "roll": 0.00018834175716619939,
                        "pitch": 0.6276124119758606,
                        "yaw": 8.988515853881836
                    }
                },
                "velocity": {
                    "x": 1.3139785528182983,
                    "y": 0.2078700065612793,
                    "z": 0.014489163644611835
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.979055404663086,
                "transform": {
                    "location": {
                        "x": 3487.673095703125,
                        "y": 4232.77099609375,
                        "z": 366.949951171875
                    },
                    "rotation": {
                        "roll": -0.00012206852261442691,
                        "pitch": 0.6924377083778381,
                        "yaw": 8.989282608032227
                    }
                },
                "velocity": {
                    "x": 9.855938911437988,
                    "y": 1.5591789484024048,
                    "z": 0.10474897176027298
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.3267436027526855,
                "transform": {
                    "location": {
                        "x": 3517.71435546875,
                        "y": 4321.015625,
                        "z": 367.6721496582031
                    },
                    "rotation": {
                        "roll": -0.007965086959302425,
                        "pitch": -0.3048108220100403,
                        "yaw": -80.2499771118164
                    }
                },
                "velocity": {
                    "x": 0.5726508498191833,
                    "y": -3.277081251144409,
                    "z": 0.0056738946586847305
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.679437637329102,
                "transform": {
                    "location": {
                        "x": 3521.555908203125,
                        "y": 4277.88623046875,
                        "z": 367.47998046875
                    },
                    "rotation": {
                        "roll": -0.0013122627278789878,
                        "pitch": 0.25167879462242126,
                        "yaw": 99.24533081054688
                    }
                },
                "velocity": {
                    "x": -1.7144640684127808,
                    "y": 10.540824890136719,
                    "z": 0.044940367341041565
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.82870614528656,
                "transform": {
                    "location": {
                        "x": 3520.424072265625,
                        "y": 4304.7919921875,
                        "z": 367.60284423828125
                    },
                    "rotation": {
                        "roll": 0.0005387222045101225,
                        "pitch": -1.0918262004852295,
                        "yaw": -80.72273254394531
                    }
                },
                "velocity": {
                    "x": 0.2935733497142792,
                    "y": -1.8049765825271606,
                    "z": -0.006374301854521036
                },
                "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": -0.014661756344139576,
        "expert_target_speed": 8.681591382483942,
        "target_point": [
            26.05997610469194,
            -0.055689665224138984
        ],
        "target_point_next": [
            40.97021649717339,
            -0.08091926215811629
        ]
    },
    "95": {
        "acceleration": [
            0.5408596992492676,
            -3.092327117919922,
            -0.0035190582275390625
        ],
        "angular_velocity": [
            -0.3353211581707001,
            -0.04343967139720917,
            0.3120577335357666
        ],
        "forward_vector": [
            0.16349546611309052,
            -0.9865438342094421,
            0.0006687640561722219
        ],
        "right_vector": [
            0.9865439534187317,
            0.16349570453166962,
            0.0003099917958024889
        ],
        "location": [
            3523.657958984375,
            4284.39306640625,
            367.5027160644531
        ],
        "rotation": [
            -0.0177612267434597,
            0.03831735998392105,
            -80.59015655517578
        ],
        "velocity": [
            1.4721221923828125,
            -8.854994773864746,
            -0.0412147082388401
        ],
        "speed": 8.976529184182377,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 67.38042449951172,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3577.55126953125,
                4243.95068359375,
                367.71685791015625
            ],
            "velocity": [
                -0.001232739188708365,
                -0.00020484962442424148,
                0.1269982010126114
            ],
            "speed_kmh": 0.45721565646805545,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.12700435519218445,
                "transform": {
                    "location": {
                        "x": 3577.55126953125,
                        "y": 4243.95068359375,
                        "z": 367.71685791015625
                    },
                    "rotation": {
                        "roll": -0.0004272472287993878,
                        "pitch": -0.5576712489128113,
                        "yaw": -171.01153564453125
                    }
                },
                "velocity": {
                    "x": -0.001232739188708365,
                    "y": -0.00020484962442424148,
                    "z": 0.1269982010126114
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3535.400146484375,
                        "y": 4193.30419921875,
                        "z": 367.30706787109375
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.0734996646642685,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3629.643310546875,
                        "y": 4255.22705078125,
                        "z": 368.3528747558594
                    },
                    "rotation": {
                        "roll": -3.335151710359696e-09,
                        "pitch": 0.4403149485588074,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3464.69677734375,
                        "y": 4229.13671875,
                        "z": 366.65863037109375
                    },
                    "rotation": {
                        "roll": 1.3341324489601902e-08,
                        "pitch": 0.7397026419639587,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.262002468109131,
                "transform": {
                    "location": {
                        "x": 3547.875,
                        "y": 4242.29345703125,
                        "z": 367.5381164550781
                    },
                    "rotation": {
                        "roll": 0.00038650931674055755,
                        "pitch": 0.6296204924583435,
                        "yaw": 8.98812484741211
                    }
                },
                "velocity": {
                    "x": 2.234145164489746,
                    "y": 0.35335227847099304,
                    "z": 0.01980605162680149
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.094095230102539,
                "transform": {
                    "location": {
                        "x": 3490.1513671875,
                        "y": 4233.1630859375,
                        "z": 366.97772216796875
                    },
                    "rotation": {
                        "roll": -0.00027466152096167207,
                        "pitch": 0.6296067833900452,
                        "yaw": 8.99290943145752
                    }
                },
                "velocity": {
                    "x": 9.969388008117676,
                    "y": 1.5778383016586304,
                    "z": 0.11178525537252426
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.1546084880828857,
                "transform": {
                    "location": {
                        "x": 3517.859619140625,
                        "y": 4320.1826171875,
                        "z": 367.6709289550781
                    },
                    "rotation": {
                        "roll": -0.005737291183322668,
                        "pitch": -0.27477848529815674,
                        "yaw": -80.17594909667969
                    }
                },
                "velocity": {
                    "x": 0.5442997813224792,
                    "y": -3.1072826385498047,
                    "z": -0.009365224279463291
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.679727554321289,
                "transform": {
                    "location": {
                        "x": 3521.127197265625,
                        "y": 4280.52099609375,
                        "z": 367.4916687011719
                    },
                    "rotation": {
                        "roll": -0.0006408702465705574,
                        "pitch": 0.25614574551582336,
                        "yaw": 99.22305297851562
                    }
                },
                "velocity": {
                    "x": -1.713754415512085,
                    "y": 10.541224479675293,
                    "z": 0.04703334718942642
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.8764584064483643,
                "transform": {
                    "location": {
                        "x": 3520.5185546875,
                        "y": 4304.2109375,
                        "z": 367.59716796875
                    },
                    "rotation": {
                        "roll": -0.0012817520182579756,
                        "pitch": -0.23845554888248444,
                        "yaw": -80.73701477050781
                    }
                },
                "velocity": {
                    "x": 0.4621632397174835,
                    "y": -2.839059352874756,
                    "z": -0.012711839750409126
                },
                "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": -0.020880598574876785,
        "expert_target_speed": 9.242915790337028,
        "target_point": [
            23.912883894981775,
            -0.0937643722218624
        ],
        "target_point_next": [
            38.82307071388364,
            -0.14103084651505515
        ]
    },
    "100": {
        "acceleration": [
            1.5598058700561523,
            -9.184532165527344,
            -0.03756336867809296
        ],
        "angular_velocity": [
            -1.2878233194351196,
            -0.18626399338245392,
            0.23434729874134064
        ],
        "forward_vector": [
            0.1646929383277893,
            -0.9863446950912476,
            0.000560283602681011
        ],
        "right_vector": [
            0.9863448143005371,
            0.16469311714172363,
            0.0002892191696446389
        ],
        "location": [
            3524.040283203125,
            4282.1005859375,
            367.49212646484375
        ],
        "rotation": [
            -0.0165710411965847,
            0.032101888209581375,
            -80.52059936523438
        ],
        "velocity": [
            1.6079931259155273,
            -9.61143684387207,
            -0.04276971146464348
        ],
        "speed": 9.745017193249742,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 65.7178726196289,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3577.550537109375,
                4243.95068359375,
                367.7691650390625
            ],
            "velocity": [
                -0.001331054256297648,
                -0.00021383160492405295,
                0.13701511919498444
            ],
            "speed_kmh": 0.4932783045234802,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1370217502117157,
                "transform": {
                    "location": {
                        "x": 3577.550537109375,
                        "y": 4243.95068359375,
                        "z": 367.7691650390625
                    },
                    "rotation": {
                        "roll": -0.00030517514096572995,
                        "pitch": -0.5575209856033325,
                        "yaw": -171.01158142089844
                    }
                },
                "velocity": {
                    "x": -0.001331054256297648,
                    "y": -0.00021383160492405295,
                    "z": 0.13701511919498444
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3535.06640625,
                        "y": 4195.35986328125,
                        "z": 367.2857666015625
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.0734996646642685,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3630.8759765625,
                        "y": 4255.42236328125,
                        "z": 368.3043212890625
                    },
                    "rotation": {
                        "roll": -3.335151710359696e-09,
                        "pitch": 0.4403149485588074,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3467.6455078125,
                        "y": 4229.603515625,
                        "z": 366.69683837890625
                    },
                    "rotation": {
                        "roll": 1.3341324489601902e-08,
                        "pitch": 0.7397026419639587,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.5570080280303955,
                "transform": {
                    "location": {
                        "x": 3548.59033203125,
                        "y": 4242.40673828125,
                        "z": 367.5445251464844
                    },
                    "rotation": {
                        "roll": 0.0004023672081530094,
                        "pitch": 0.6563060283660889,
                        "yaw": 8.987759590148926
                    }
                },
                "velocity": {
                    "x": 3.5131912231445312,
                    "y": 0.5556936264038086,
                    "z": 0.03160133212804794
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.095453262329102,
                "transform": {
                    "location": {
                        "x": 3492.581787109375,
                        "y": 4233.54736328125,
                        "z": 367.0041809082031
                    },
                    "rotation": {
                        "roll": -0.000518798129633069,
                        "pitch": 0.6870008707046509,
                        "yaw": 8.987932205200195
                    }
                },
                "velocity": {
                    "x": 8.983232498168945,
                    "y": 1.4209831953048706,
                    "z": 0.09800443798303604
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.4563794136047363,
                "transform": {
                    "location": {
                        "x": 3517.9931640625,
                        "y": 4319.40185546875,
                        "z": 367.6677551269531
                    },
                    "rotation": {
                        "roll": 0.010460344143211842,
                        "pitch": -0.23794329166412354,
                        "yaw": -80.23423767089844
                    }
                },
                "velocity": {
                    "x": 0.5777150392532349,
                    "y": -3.4077250957489014,
                    "z": -0.014573277905583382
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.682783126831055,
                "transform": {
                    "location": {
                        "x": 3520.69873046875,
                        "y": 4283.1572265625,
                        "z": 367.5036926269531
                    },
                    "rotation": {
                        "roll": -0.0004577610525302589,
                        "pitch": 0.26736775040626526,
                        "yaw": 99.23918914794922
                    }
                },
                "velocity": {
                    "x": -1.713958740234375,
                    "y": 10.54427719116211,
                    "z": 0.04917702451348305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.306926250457764,
                "transform": {
                    "location": {
                        "x": 3520.66552734375,
                        "y": 4303.31103515625,
                        "z": 367.5914001464844
                    },
                    "rotation": {
                        "roll": -0.0017395111499354243,
                        "pitch": 0.16792702674865723,
                        "yaw": -80.74125671386719
                    }
                },
                "velocity": {
                    "x": 0.6929893493652344,
                    "y": -4.250764846801758,
                    "z": -0.019431572407484055
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32147902250289917,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.028006140142679214,
        "expert_target_speed": 9.733474487306706,
        "target_point": [
            21.588609965194884,
            -0.12234156569019827
        ],
        "target_point_next": [
            36.49872842035247,
            -0.1877078208668257
        ]
    },
    "105": {
        "acceleration": [
            0.47976016998291016,
            -2.8615570068359375,
            -0.017063617706298828
        ],
        "angular_velocity": [
            0.18280437588691711,
            0.07013334333896637,
            0.005536761600524187
        ],
        "forward_vector": [
            0.16514942049980164,
            -0.9862622022628784,
            0.0035432500299066305
        ],
        "right_vector": [
            0.9862682819366455,
            0.165150985121727,
            0.00015392969362437725
        ],
        "location": [
            3524.470947265625,
            4279.52880859375,
            367.47998046875
        ],
        "rotation": [
            -0.008819577284157276,
            0.20301370322704315,
            -80.49402618408203
        ],
        "velocity": [
            1.79513680934906,
            -10.720990180969238,
            -0.04716945067048073
        ],
        "speed": 10.870241332404666,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.81464767456055,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3577.43310546875,
                4243.9306640625,
                367.7811584472656
            ],
            "velocity": [
                -1.5609817504882812,
                -0.2751774489879608,
                -0.00740468967705965
            ],
            "speed_kmh": 5.706245843153605,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5850683450698853,
                "transform": {
                    "location": {
                        "x": 3577.43310546875,
                        "y": 4243.9306640625,
                        "z": 367.7811584472656
                    },
                    "rotation": {
                        "roll": -0.002563473070040345,
                        "pitch": -0.5260952711105347,
                        "yaw": -170.9424591064453
                    }
                },
                "velocity": {
                    "x": -1.5609817504882812,
                    "y": -0.2751774489879608,
                    "z": -0.00740468967705965
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3534.732421875,
                        "y": 4197.41552734375,
                        "z": 367.2738952636719
                    },
                    "rotation": {
                        "roll": 3.3350566752687882e-09,
                        "pitch": 0.0815114751458168,
                        "yaw": 99.2292709350586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3631.698974609375,
                        "y": 4255.55224609375,
                        "z": 368.3092041015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3470.342529296875,
                        "y": 4230.02978515625,
                        "z": 366.7320556640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7388966679573059,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.8723554611206055,
                "transform": {
                    "location": {
                        "x": 3549.64013671875,
                        "y": 4242.57275390625,
                        "z": 367.55413818359375
                    },
                    "rotation": {
                        "roll": 0.000233065991778858,
                        "pitch": 0.6674050688743591,
                        "yaw": 8.9874906539917
                    }
                },
                "velocity": {
                    "x": 4.812338352203369,
                    "y": 0.7611108422279358,
                    "z": 0.044265784323215485
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.790504455566406,
                "transform": {
                    "location": {
                        "x": 3494.583740234375,
                        "y": 4233.8642578125,
                        "z": 367.025146484375
                    },
                    "rotation": {
                        "roll": 0.0002790659200400114,
                        "pitch": 0.7198336124420166,
                        "yaw": 8.993470191955566
                    }
                },
                "velocity": {
                    "x": 7.6942033767700195,
                    "y": 1.2183568477630615,
                    "z": 0.08249752223491669
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.728756904602051,
                "transform": {
                    "location": {
                        "x": 3518.165771484375,
                        "y": 4318.384765625,
                        "z": 367.6620178222656
                    },
                    "rotation": {
                        "roll": 0.0065115634351968765,
                        "pitch": 0.09596415609121323,
                        "yaw": -80.30918884277344
                    }
                },
                "velocity": {
                    "x": 0.7890026569366455,
                    "y": -4.662417888641357,
                    "z": -0.02185050956904888
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.680593490600586,
                "transform": {
                    "location": {
                        "x": 3520.270751953125,
                        "y": 4285.79345703125,
                        "z": 367.51605224609375
                    },
                    "rotation": {
                        "roll": 0.00024296794435940683,
                        "pitch": 0.26812589168548584,
                        "yaw": 99.21357727050781
                    }
                },
                "velocity": {
                    "x": -1.7121649980545044,
                    "y": 10.542346954345703,
                    "z": 0.04989726096391678
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.440382957458496,
                "transform": {
                    "location": {
                        "x": 3520.865478515625,
                        "y": 4302.08203125,
                        "z": 367.5855712890625
                    },
                    "rotation": {
                        "roll": 0.00028066770755685866,
                        "pitch": 0.2642258405685425,
                        "yaw": -80.73282623291016
                    }
                },
                "velocity": {
                    "x": 0.8716087937355042,
                    "y": -5.370056629180908,
                    "z": -0.023642200976610184
                },
                "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": -0.03560369461774826,
        "expert_target_speed": 10.0,
        "target_point": [
            18.980963861980555,
            -0.1323734294967447
        ],
        "target_point_next": [
            33.891050404246656,
            -0.20465341484571287
        ]
    },
    "110": {
        "acceleration": [
            0.4774141311645508,
            -2.861156463623047,
            0.0029912590980529785
        ],
        "angular_velocity": [
            0.19101327657699585,
            0.02230985090136528,
            -0.01226066704839468
        ],
        "forward_vector": [
            0.16511547565460205,
            -0.9862716794013977,
            0.0022617557551711798
        ],
        "right_vector": [
            0.9862741827964783,
            0.16511602699756622,
            6.0719899920513853e-05
        ],
        "location": [
            3524.934814453125,
            4276.75537109375,
            367.4682312011719
        ],
        "rotation": [
            -0.0034790029749274254,
            0.12958917021751404,
            -80.49603271484375
        ],
        "velocity": [
            1.9131726026535034,
            -11.42775821685791,
            -0.048699695616960526
        ],
        "speed": 11.58679797314631,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 61.47960662841797,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3576.856201171875,
                4243.833984375,
                367.7750549316406
            ],
            "velocity": [
                -2.8020167350769043,
                -0.4698639214038849,
                -0.029927663505077362
            ],
            "speed_kmh": 10.228667243153872,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.841296434402466,
                "transform": {
                    "location": {
                        "x": 3576.856201171875,
                        "y": 4243.833984375,
                        "z": 367.7750549316406
                    },
                    "rotation": {
                        "roll": -0.0034790022764354944,
                        "pitch": -0.5232197642326355,
                        "yaw": -170.7912139892578
                    }
                },
                "velocity": {
                    "x": -2.8020167350769043,
                    "y": -0.4698639214038849,
                    "z": -0.029927663505077362
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3534.39794921875,
                        "y": 4199.47119140625,
                        "z": 367.2752990722656
                    },
                    "rotation": {
                        "roll": 3.3350566752687882e-09,
                        "pitch": 0.0815114751458168,
                        "yaw": 99.2292709350586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3632.93359375,
                        "y": 4255.74755859375,
                        "z": 368.31439208984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3473.288330078125,
                        "y": 4230.49609375,
                        "z": 366.77056884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7388966679573059,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.368439197540283,
                "transform": {
                    "location": {
                        "x": 3550.93310546875,
                        "y": 4242.77783203125,
                        "z": 367.567138671875
                    },
                    "rotation": {
                        "roll": 0.00022249032917898148,
                        "pitch": 0.6015893816947937,
                        "yaw": 8.901885032653809
                    }
                },
                "velocity": {
                    "x": 5.3024139404296875,
                    "y": 0.8379368185997009,
                    "z": 0.04905467852950096
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.224752426147461,
                "transform": {
                    "location": {
                        "x": 3496.546142578125,
                        "y": 4234.1748046875,
                        "z": 367.04718017578125
                    },
                    "rotation": {
                        "roll": -0.00021362410916481167,
                        "pitch": 0.5714682340621948,
                        "yaw": 8.97165298461914
                    }
                },
                "velocity": {
                    "x": 8.123274803161621,
                    "y": 1.2852685451507568,
                    "z": 0.08387286961078644
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.642676830291748,
                "transform": {
                    "location": {
                        "x": 3518.38623046875,
                        "y": 4317.08154296875,
                        "z": 367.6560363769531
                    },
                    "rotation": {
                        "roll": -0.0006103503401391208,
                        "pitch": 0.15466278791427612,
                        "yaw": -80.2960433959961
                    }
                },
                "velocity": {
                    "x": 0.9418393969535828,
                    "y": -5.563459873199463,
                    "z": -0.025553373619914055
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.68106746673584,
                "transform": {
                    "location": {
                        "x": 3519.843017578125,
                        "y": 4288.4287109375,
                        "z": 367.5284729003906
                    },
                    "rotation": {
                        "roll": 0.0001254127564607188,
                        "pitch": 0.2727021276950836,
                        "yaw": 99.23405456542969
                    }
                },
                "velocity": {
                    "x": -1.711827039718628,
                    "y": 10.542887687683105,
                    "z": 0.048738401383161545
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.091734409332275,
                "transform": {
                    "location": {
                        "x": 3521.0888671875,
                        "y": 4300.70703125,
                        "z": 367.579833984375
                    },
                    "rotation": {
                        "roll": -0.0034179682843387127,
                        "pitch": 0.06419011205434799,
                        "yaw": -80.6541976928711
                    }
                },
                "velocity": {
                    "x": 0.9808582067489624,
                    "y": -6.012183666229248,
                    "z": -0.028159933164715767
                },
                "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": -0.04266740381717682,
        "expert_target_speed": 10.0,
        "target_point": [
            16.169006865476423,
            -0.13127185058247948
        ],
        "target_point_next": [
            31.079095928612485,
            -0.20302994069787417
        ]
    },
    "115": {
        "acceleration": [
            0.18313169479370117,
            -1.860809326171875,
            -0.01050211489200592
        ],
        "angular_velocity": [
            0.3127838969230652,
            0.12804605066776276,
            -0.427246630191803
        ],
        "forward_vector": [
            0.16450725495815277,
            -0.9863748550415039,
            0.0014389747520908713
        ],
        "right_vector": [
            0.9863759279251099,
            0.1645071804523468,
            -0.00016608931764494628
        ],
        "location": [
            3525.425537109375,
            4273.81787109375,
            367.45599365234375
        ],
        "rotation": [
            0.009516227059066296,
            0.08244720846414566,
            -80.53137969970703
        ],
        "velocity": [
            1.9985594749450684,
            -12.019859313964844,
            -0.049318015575408936
        ],
        "speed": 12.184878247335922,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.906429290771484,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3576.04931640625,
                4243.69970703125,
                367.7668762207031
            ],
            "velocity": [
                -3.604766368865967,
                -0.6056329607963562,
                -0.03549027442932129
            ],
            "speed_kmh": 13.15965777529505,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6554605960845947,
                "transform": {
                    "location": {
                        "x": 3576.04931640625,
                        "y": 4243.69970703125,
                        "z": 367.7668762207031
                    },
                    "rotation": {
                        "roll": -0.0035095198545604944,
                        "pitch": -0.5359171032905579,
                        "yaw": -170.66615295410156
                    }
                },
                "velocity": {
                    "x": -3.604766368865967,
                    "y": -0.6056329607963562,
                    "z": -0.03549027442932129
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3534.064697265625,
                        "y": 4201.52587890625,
                        "z": 367.2767639160156
                    },
                    "rotation": {
                        "roll": 3.3350566752687882e-09,
                        "pitch": 0.0815114751458168,
                        "yaw": 99.2292709350586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.045241355895996,
                "transform": {
                    "location": {
                        "x": 3475.8564453125,
                        "y": 4230.90234375,
                        "z": 366.8004150390625
                    },
                    "rotation": {
                        "roll": 0.0001764105836628005,
                        "pitch": 0.5980786681175232,
                        "yaw": 8.988567352294922
                    }
                },
                "velocity": {
                    "x": 6.958313941955566,
                    "y": 1.1007487773895264,
                    "z": 0.07514551281929016
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.076686859130859,
                "transform": {
                    "location": {
                        "x": 3552.3115234375,
                        "y": 4242.99560546875,
                        "z": 367.5799865722656
                    },
                    "rotation": {
                        "roll": -0.00042724687955342233,
                        "pitch": 0.5975937247276306,
                        "yaw": 8.895903587341309
                    }
                },
                "velocity": {
                    "x": 6.001924991607666,
                    "y": 0.9485703706741333,
                    "z": 0.05689779296517372
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.5093355178833,
                "transform": {
                    "location": {
                        "x": 3498.671142578125,
                        "y": 4234.5107421875,
                        "z": 367.06988525390625
                    },
                    "rotation": {
                        "roll": -0.0005188011564314365,
                        "pitch": 0.46369469165802,
                        "yaw": 8.970577239990234
                    }
                },
                "velocity": {
                    "x": 9.391939163208008,
                    "y": 1.4866455793380737,
                    "z": 0.09401176124811172
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.673453330993652,
                "transform": {
                    "location": {
                        "x": 3518.63427734375,
                        "y": 4315.61669921875,
                        "z": 367.6490783691406
                    },
                    "rotation": {
                        "roll": -0.00018311530584469438,
                        "pitch": 0.1773868352174759,
                        "yaw": -80.33543395996094
                    }
                },
                "velocity": {
                    "x": 1.112998366355896,
                    "y": -6.579916000366211,
                    "z": -0.030312256887555122
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.6812162399292,
                "transform": {
                    "location": {
                        "x": 3519.41552734375,
                        "y": 4291.06494140625,
                        "z": 367.5410461425781
                    },
                    "rotation": {
                        "roll": 0.000279013707768172,
                        "pitch": 0.2719986140727997,
                        "yaw": 99.21421813964844
                    }
                },
                "velocity": {
                    "x": -1.7122879028320312,
                    "y": 10.542959213256836,
                    "z": 0.04958907142281532
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.657216548919678,
                "transform": {
                    "location": {
                        "x": 3521.37060546875,
                        "y": 4298.98046875,
                        "z": 367.5707092285156
                    },
                    "rotation": {
                        "roll": -0.00048827219870872796,
                        "pitch": 0.30887478590011597,
                        "yaw": -80.70037078857422
                    }
                },
                "velocity": {
                    "x": 1.2314164638519287,
                    "y": -7.557466983795166,
                    "z": -0.035658325999975204
                },
                "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": -0.04549809545278549,
        "expert_target_speed": 10.0,
        "target_point": [
            13.190878216266807,
            -0.12209374031606135
        ],
        "target_point_next": [
            28.101008714998486,
            -0.18465255215037146
        ]
    },
    "120": {
        "acceleration": [
            -0.22501707077026367,
            0.005321502685546875,
            -0.0014682859182357788
        ],
        "angular_velocity": [
            0.6045958399772644,
            0.23165425658226013,
            -1.0992357730865479
        ],
        "forward_vector": [
            0.1607695370912552,
            -0.9869914054870605,
            -0.0010226962622255087
        ],
        "right_vector": [
            0.9869914650917053,
            0.16077041625976562,
            -0.0008381953230127692
        ],
        "location": [
            3525.924072265625,
            4270.78466796875,
            367.44427490234375
        ],
        "rotation": [
            0.048025086522102356,
            -0.05859619006514549,
            -80.74842834472656
        ],
        "velocity": [
            1.9716311693191528,
            -12.16205883026123,
            -0.04889912158250809
        ],
        "speed": 12.320836191532049,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.17988204956055,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3575.05029296875,
                4243.5322265625,
                367.7570495605469
            ],
            "velocity": [
                -4.356420040130615,
                -0.7327811121940613,
                -0.042921651154756546
            ],
            "speed_kmh": 15.90418151505474,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.41782808303833,
                "transform": {
                    "location": {
                        "x": 3575.05029296875,
                        "y": 4243.5322265625,
                        "z": 367.7570495605469
                    },
                    "rotation": {
                        "roll": -0.005493165459483862,
                        "pitch": -0.5389701724052429,
                        "yaw": -170.57200622558594
                    }
                },
                "velocity": {
                    "x": -4.356420040130615,
                    "y": -0.7327811121940613,
                    "z": -0.042921651154756546
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.386298179626465,
                "transform": {
                    "location": {
                        "x": 3533.7548828125,
                        "y": 4203.416015625,
                        "z": 367.2902526855469
                    },
                    "rotation": {
                        "roll": -0.01226806454360485,
                        "pitch": -0.0772152841091156,
                        "yaw": 99.31475067138672
                    }
                },
                "velocity": {
                    "x": -1.0698121786117554,
                    "y": 6.294716835021973,
                    "z": 0.12979942560195923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.614924907684326,
                "transform": {
                    "location": {
                        "x": 3477.469970703125,
                        "y": 4231.15771484375,
                        "z": 366.81866455078125
                    },
                    "rotation": {
                        "roll": -0.0011291474802419543,
                        "pitch": 0.6760657429695129,
                        "yaw": 8.990216255187988
                    }
                },
                "velocity": {
                    "x": 6.533199787139893,
                    "y": 1.0335243940353394,
                    "z": 0.0797359049320221
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.338077545166016,
                "transform": {
                    "location": {
                        "x": 3554.162841796875,
                        "y": 4243.2880859375,
                        "z": 367.5962829589844
                    },
                    "rotation": {
                        "roll": -0.0003356876259204,
                        "pitch": 0.738322913646698,
                        "yaw": 8.956485748291016
                    }
                },
                "velocity": {
                    "x": 8.23549747467041,
                    "y": 1.3015943765640259,
                    "z": 0.07727401703596115
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.101407051086426,
                "transform": {
                    "location": {
                        "x": 3501.021484375,
                        "y": 4234.88232421875,
                        "z": 367.0926818847656
                    },
                    "rotation": {
                        "roll": -0.0007629426545463502,
                        "pitch": 0.5560866594314575,
                        "yaw": 8.957283020019531
                    }
                },
                "velocity": {
                    "x": 8.98945140838623,
                    "y": 1.420296549797058,
                    "z": 0.09014800935983658
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.139753341674805,
                "transform": {
                    "location": {
                        "x": 3518.942626953125,
                        "y": 4313.78125,
                        "z": 367.63995361328125
                    },
                    "rotation": {
                        "roll": 0.01970735937356949,
                        "pitch": 0.3325004279613495,
                        "yaw": -80.46988677978516
                    }
                },
                "velocity": {
                    "x": 1.3351746797561646,
                    "y": -8.029415130615234,
                    "z": -0.03715083375573158
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.681130409240723,
                "transform": {
                    "location": {
                        "x": 3518.987060546875,
                        "y": 4293.69970703125,
                        "z": 367.5535583496094
                    },
                    "rotation": {
                        "roll": 6.910307547514094e-06,
                        "pitch": 0.2715204954147339,
                        "yaw": 99.23876953125
                    }
                },
                "velocity": {
                    "x": -1.7126660346984863,
                    "y": 10.542814254760742,
                    "z": 0.04881575331091881
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.420038223266602,
                "transform": {
                    "location": {
                        "x": 3521.701171875,
                        "y": 4296.95068359375,
                        "z": 367.5614318847656
                    },
                    "rotation": {
                        "roll": 0.004607812967151403,
                        "pitch": 0.20638781785964966,
                        "yaw": -80.77007293701172
                    }
                },
                "velocity": {
                    "x": 1.3497980833053589,
                    "y": -8.311052322387695,
                    "z": -0.03874345123767853
                },
                "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": -0.035719942301511765,
        "expert_target_speed": 10.0,
        "target_point": [
            10.11734969266136,
            -0.07652629264366428
        ],
        "target_point_next": [
            25.02761019364912,
            -0.0825997456128782
        ]
    },
    "125": {
        "acceleration": [
            -0.35886526107788086,
            0.7764625549316406,
            0.015487149357795715
        ],
        "angular_velocity": [
            0.433295875787735,
            0.14485208690166473,
            -1.124099612236023
        ],
        "forward_vector": [
            0.1559288203716278,
            -0.9877626299858093,
            -0.003339045913890004
        ],
        "right_vector": [
            0.987766683101654,
            0.15593376755714417,
            -0.0012737195938825607
        ],
        "location": [
            3526.40771484375,
            4267.75927734375,
            367.4330139160156
        ],
        "rotation": [
            0.07297918200492859,
            -0.19131359457969666,
            -81.02928161621094
        ],
        "velocity": [
            1.8932691812515259,
            -12.040937423706055,
            -0.0465715192258358
        ],
        "speed": 12.188873706552291,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.37019729614258,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3573.85888671875,
                4243.33251953125,
                367.7455749511719
            ],
            "velocity": [
                -5.157928466796875,
                -0.8686109781265259,
                -0.04875289276242256
            ],
            "speed_kmh": 18.830817819741863,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.230782508850098,
                "transform": {
                    "location": {
                        "x": 3573.85888671875,
                        "y": 4243.33251953125,
                        "z": 367.7455749511719
                    },
                    "rotation": {
                        "roll": -0.005889890715479851,
                        "pitch": -0.5385125875473022,
                        "yaw": -170.50259399414062
                    }
                },
                "velocity": {
                    "x": -5.157928466796875,
                    "y": -0.8686109781265259,
                    "z": -0.04875289276242256
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.589001178741455,
                "transform": {
                    "location": {
                        "x": 3533.481201171875,
                        "y": 4205.017578125,
                        "z": 367.3111572265625
                    },
                    "rotation": {
                        "roll": -0.010101319290697575,
                        "pitch": 0.0357423797249794,
                        "yaw": 99.67362213134766
                    }
                },
                "velocity": {
                    "x": -1.131609559059143,
                    "y": 6.490936756134033,
                    "z": 0.04623713344335556
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.337010383605957,
                "transform": {
                    "location": {
                        "x": 3479.067626953125,
                        "y": 4231.41064453125,
                        "z": 366.8383483886719
                    },
                    "rotation": {
                        "roll": -0.000701899582054466,
                        "pitch": 0.690450131893158,
                        "yaw": 8.990229606628418
                    }
                },
                "velocity": {
                    "x": 6.258695125579834,
                    "y": 0.9901851415634155,
                    "z": 0.07729940116405487
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.658927917480469,
                "transform": {
                    "location": {
                        "x": 3556.3857421875,
                        "y": 4243.63916015625,
                        "z": 367.61767578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7002719640731812,
                        "yaw": 8.981025695800781
                    }
                },
                "velocity": {
                    "x": 9.540082931518555,
                    "y": 1.5077930688858032,
                    "z": 0.09089814871549606
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.888247489929199,
                "transform": {
                    "location": {
                        "x": 3503.105224609375,
                        "y": 4235.21142578125,
                        "z": 367.1124267578125
                    },
                    "rotation": {
                        "roll": -0.0001220710837515071,
                        "pitch": 0.6616677045822144,
                        "yaw": 8.998394966125488
                    }
                },
                "velocity": {
                    "x": 7.791229724884033,
                    "y": 1.231088638305664,
                    "z": 0.07484818994998932
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.147879600524902,
                "transform": {
                    "location": {
                        "x": 3519.2841796875,
                        "y": 4311.72314453125,
                        "z": 367.6315612792969
                    },
                    "rotation": {
                        "roll": 0.014750538393855095,
                        "pitch": 0.024288151413202286,
                        "yaw": -80.58659362792969
                    }
                },
                "velocity": {
                    "x": 1.3293774127960205,
                    "y": -8.038616180419922,
                    "z": -0.036878157407045364
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.681023597717285,
                "transform": {
                    "location": {
                        "x": 3518.55859375,
                        "y": 4296.3349609375,
                        "z": 367.5660400390625
                    },
                    "rotation": {
                        "roll": -0.0005188066279515624,
                        "pitch": 0.27046865224838257,
                        "yaw": 99.21808624267578
                    }
                },
                "velocity": {
                    "x": -1.7129685878753662,
                    "y": 10.542654991149902,
                    "z": 0.04934694245457649
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.860179901123047,
                "transform": {
                    "location": {
                        "x": 3522.02685546875,
                        "y": 4294.947265625,
                        "z": 367.5537414550781
                    },
                    "rotation": {
                        "roll": 0.0008982582949101925,
                        "pitch": -0.24780607223510742,
                        "yaw": -80.7549057006836
                    }
                },
                "velocity": {
                    "x": 1.2613067626953125,
                    "y": -7.7582316398620605,
                    "z": -0.037088535726070404
                },
                "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": -0.021560154855251312,
        "expert_target_speed": 10.0,
        "target_point": [
            21.96391565304164,
            0.03409725963388999
        ],
        "target_point_next": [
            28.50478031328391,
            6.603327790525632
        ]
    },
    "130": {
        "acceleration": [
            -0.4577207565307617,
            1.3860893249511719,
            0.009039342403411865
        ],
        "angular_velocity": [
            0.32290613651275635,
            0.04331301152706146,
            -1.120917558670044
        ],
        "forward_vector": [
            0.15108108520507812,
            -0.988509476184845,
            -0.004840950947254896
        ],
        "right_vector": [
            0.9885189533233643,
            0.15108969807624817,
            -0.0014625919284299016
        ],
        "location": [
            3526.868896484375,
            4264.78125,
            367.4222717285156
        ],
        "rotation": [
            0.08380135893821716,
            -0.27736714482307434,
            -81.31031799316406
        ],
        "velocity": [
            1.7892698049545288,
            -11.760717391967773,
            -0.04443981871008873
        ],
        "speed": 11.896048083655987,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.5429801940918,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3572.528564453125,
                4243.10888671875,
                367.73248291015625
            ],
            "velocity": [
                -5.653291702270508,
                -0.9529000520706177,
                -0.05620542913675308
            ],
            "speed_kmh": 20.639928895487436,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3535.748291015625,
                        "y": 4191.162109375,
                        "z": 367.4202575683594
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.072987399995327,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.73331356048584,
                "transform": {
                    "location": {
                        "x": 3572.528564453125,
                        "y": 4243.10888671875,
                        "z": 367.73248291015625
                    },
                    "rotation": {
                        "roll": -0.006500244140625,
                        "pitch": -0.5431434512138367,
                        "yaw": -170.4535675048828
                    }
                },
                "velocity": {
                    "x": -5.653291702270508,
                    "y": -0.9529000520706177,
                    "z": -0.05620542913675308
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.358628749847412,
                "transform": {
                    "location": {
                        "x": 3533.2041015625,
                        "y": 4206.611328125,
                        "z": 367.31756591796875
                    },
                    "rotation": {
                        "roll": -0.003295896342024207,
                        "pitch": 0.08030252903699875,
                        "yaw": 99.85505676269531
                    }
                },
                "velocity": {
                    "x": -1.0976284742355347,
                    "y": 6.263154983520508,
                    "z": 0.01616445556282997
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.503580570220947,
                "transform": {
                    "location": {
                        "x": 3480.654052734375,
                        "y": 4231.66162109375,
                        "z": 366.85784912109375
                    },
                    "rotation": {
                        "roll": -0.00015258643543347716,
                        "pitch": 0.690764307975769,
                        "yaw": 8.988866806030273
                    }
                },
                "velocity": {
                    "x": 6.4233832359313965,
                    "y": 1.0152469873428345,
                    "z": 0.0773138776421547
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.780623435974121,
                "transform": {
                    "location": {
                        "x": 3558.858642578125,
                        "y": 4244.02978515625,
                        "z": 367.6415100097656
                    },
                    "rotation": {
                        "roll": -0.00018311110034119338,
                        "pitch": 0.6918503046035767,
                        "yaw": 8.982439994812012
                    }
                },
                "velocity": {
                    "x": 10.647942543029785,
                    "y": 1.6830503940582275,
                    "z": 0.10245954245328903
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.421396255493164,
                "transform": {
                    "location": {
                        "x": 3504.936279296875,
                        "y": 4235.50341796875,
                        "z": 367.129638671875
                    },
                    "rotation": {
                        "roll": -0.0010375977726653218,
                        "pitch": 0.6783812046051025,
                        "yaw": 8.69949722290039
                    }
                },
                "velocity": {
                    "x": 6.342059135437012,
                    "y": 1.004558801651001,
                    "z": 0.058944568037986755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.2950592041015625,
                "transform": {
                    "location": {
                        "x": 3519.59619140625,
                        "y": 4309.83544921875,
                        "z": 367.62432861328125
                    },
                    "rotation": {
                        "roll": 0.010149217210710049,
                        "pitch": -0.422973096370697,
                        "yaw": -80.6283950805664
                    }
                },
                "velocity": {
                    "x": 1.1829543113708496,
                    "y": -7.198428153991699,
                    "z": -0.03382754698395729
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.681200981140137,
                "transform": {
                    "location": {
                        "x": 3518.130615234375,
                        "y": 4298.9697265625,
                        "z": 367.5785217285156
                    },
                    "rotation": {
                        "roll": 0.0010166955180466175,
                        "pitch": 0.26901382207870483,
                        "yaw": 99.23951721191406
                    }
                },
                "velocity": {
                    "x": -1.71306574344635,
                    "y": 10.54281997680664,
                    "z": 0.0490296371281147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012870788574219,
                "transform": {
                    "location": {
                        "x": 3522.341796875,
                        "y": 4293.00927734375,
                        "z": 367.54443359375
                    },
                    "rotation": {
                        "roll": 0.0025812904350459576,
                        "pitch": -0.25707465410232544,
                        "yaw": -80.78813934326172
                    }
                },
                "velocity": {
                    "x": 1.2830767631530762,
                    "y": -7.909387111663818,
                    "z": -0.03749939426779747
                },
                "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": 0.003082683775573969,
        "expert_target_speed": 10.0,
        "target_point": [
            18.949964701939987,
            0.1358661419402405
        ],
        "target_point_next": [
            25.4585297138665,
            6.737099493150639
        ]
    },
    "135": {
        "acceleration": [
            -0.6087136268615723,
            2.6381874084472656,
            0.01630231738090515
        ],
        "angular_velocity": [
            0.39461198449134827,
            0.035282377153635025,
            -1.0709567070007324
        ],
        "forward_vector": [
            0.14634770154953003,
            -0.989211916923523,
            -0.0064969793893396854
        ],
        "right_vector": [
            0.989230215549469,
            0.1463603377342224,
            -0.0015107853105291724
        ],
        "location": [
            3527.30029296875,
            4261.90478515625,
            367.4122619628906
        ],
        "rotation": [
            0.08656348288059235,
            -0.37225210666656494,
            -81.5844955444336
        ],
        "velocity": [
            1.6543039083480835,
            -11.24113941192627,
            -0.03961291164159775
        ],
        "speed": 11.362215307744252,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.67790985107422,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3571.005859375,
                4242.8544921875,
                367.7173767089844
            ],
            "velocity": [
                -6.522788047790527,
                -1.0725655555725098,
                -0.06565479189157486
            ],
            "speed_kmh": 23.79855181633345,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3535.46484375,
                        "y": 4192.9072265625,
                        "z": 367.3254699707031
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.0734996646642685,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.610709190368652,
                "transform": {
                    "location": {
                        "x": 3571.005859375,
                        "y": 4242.8544921875,
                        "z": 367.7173767089844
                    },
                    "rotation": {
                        "roll": -0.003356936387717724,
                        "pitch": -0.5394551157951355,
                        "yaw": -170.5253143310547
                    }
                },
                "velocity": {
                    "x": -6.522788047790527,
                    "y": -1.0725655555725098,
                    "z": -0.06565479189157486
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.1844892501831055,
                "transform": {
                    "location": {
                        "x": 3532.96240234375,
                        "y": 4208.0126953125,
                        "z": 367.3214111328125
                    },
                    "rotation": {
                        "roll": 0.006537616718560457,
                        "pitch": -0.008271358907222748,
                        "yaw": 99.69635772705078
                    }
                },
                "velocity": {
                    "x": -0.8619834184646606,
                    "y": 5.1123199462890625,
                    "z": 0.009839200414717197
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.522423267364502,
                "transform": {
                    "location": {
                        "x": 3482.373046875,
                        "y": 4231.93310546875,
                        "z": 366.8785400390625
                    },
                    "rotation": {
                        "roll": 0.0003479494189377874,
                        "pitch": 0.7093287706375122,
                        "yaw": 8.987753868103027
                    }
                },
                "velocity": {
                    "x": 7.429574489593506,
                    "y": 1.1749529838562012,
                    "z": 0.08806443959474564
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.004286766052246,
                "transform": {
                    "location": {
                        "x": 3561.689208984375,
                        "y": 4244.4775390625,
                        "z": 367.6689453125
                    },
                    "rotation": {
                        "roll": 8.301559864776209e-05,
                        "pitch": 0.6956615447998047,
                        "yaw": 8.991565704345703
                    }
                },
                "velocity": {
                    "x": 11.856221199035645,
                    "y": 1.8759881258010864,
                    "z": 0.11657502502202988
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.805650234222412,
                "transform": {
                    "location": {
                        "x": 3506.400634765625,
                        "y": 4235.734375,
                        "z": 367.1440124511719
                    },
                    "rotation": {
                        "roll": -0.002166748745366931,
                        "pitch": 0.6068076491355896,
                        "yaw": 8.789481163024902
                    }
                },
                "velocity": {
                    "x": 5.734098434448242,
                    "y": 0.9070647358894348,
                    "z": 0.05405588820576668
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.509119987487793,
                "transform": {
                    "location": {
                        "x": 3519.89111328125,
                        "y": 4308.03662109375,
                        "z": 367.6154479980469
                    },
                    "rotation": {
                        "roll": 0.008894700556993484,
                        "pitch": -0.30624517798423767,
                        "yaw": -80.68354797363281
                    }
                },
                "velocity": {
                    "x": 1.2132177352905273,
                    "y": -7.410387992858887,
                    "z": -0.033740341663360596
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.678466796875,
                "transform": {
                    "location": {
                        "x": 3517.70263671875,
                        "y": 4301.60595703125,
                        "z": 367.59088134765625
                    },
                    "rotation": {
                        "roll": 0.000434108660556376,
                        "pitch": 0.26900699734687805,
                        "yaw": 99.21420288085938
                    }
                },
                "velocity": {
                    "x": -1.7121118307113647,
                    "y": 10.540204048156738,
                    "z": 0.04922349750995636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.134215354919434,
                "transform": {
                    "location": {
                        "x": 3522.667724609375,
                        "y": 4290.99853515625,
                        "z": 367.53472900390625
                    },
                    "rotation": {
                        "roll": 0.001814881688915193,
                        "pitch": -0.21276721358299255,
                        "yaw": -80.77108001708984
                    }
                },
                "velocity": {
                    "x": 1.3026701211929321,
                    "y": -8.029141426086426,
                    "z": -0.0373498871922493
                },
                "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": 0.03300110250711441,
        "expert_target_speed": 10.0,
        "target_point": [
            16.040469257617396,
            0.220755469683922
        ],
        "target_point_next": [
            22.51737524244351,
            6.853054402582687
        ]
    },
    "140": {
        "acceleration": [
            -0.9016656875610352,
            6.278514862060547,
            7.294118404388428e-05
        ],
        "angular_velocity": [
            1.343361735343933,
            -0.023262128233909607,
            -0.44294536113739014
        ],
        "forward_vector": [
            0.14240014553070068,
            -0.9897830486297607,
            -0.007180866785347462
        ],
        "right_vector": [
            0.9898066520690918,
            0.14241236448287964,
            -0.0012155644362792373
        ],
        "location": [
            3527.697998046875,
            4259.16552734375,
            367.403076171875
        ],
        "rotation": [
            0.06964852660894394,
            -0.41143691539764404,
            -81.81303405761719
        ],
        "velocity": [
            1.5186271667480469,
            -10.555456161499023,
            -0.036548834294080734
        ],
        "speed": 10.664140061388583,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.7296257019043,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3569.231201171875,
                4242.56298828125,
                367.69976806640625
            ],
            "velocity": [
                -7.541865825653076,
                -1.2308030128479004,
                -0.07362572848796844
            ],
            "speed_kmh": 27.511170071388104,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.14485839009284973,
                "transform": {
                    "location": {
                        "x": 3535.337158203125,
                        "y": 4193.69873046875,
                        "z": 367.2741394042969
                    },
                    "rotation": {
                        "roll": 0.0002732412831392139,
                        "pitch": -0.09606660902500153,
                        "yaw": 99.20791625976562
                    }
                },
                "velocity": {
                    "x": 0.00309402821585536,
                    "y": 0.0045906067825853825,
                    "z": -0.14475256204605103
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.641992092132568,
                "transform": {
                    "location": {
                        "x": 3569.231201171875,
                        "y": 4242.56298828125,
                        "z": 367.69976806640625
                    },
                    "rotation": {
                        "roll": -0.003356932895258069,
                        "pitch": -0.5329869389533997,
                        "yaw": -170.6713409423828
                    }
                },
                "velocity": {
                    "x": -7.541865825653076,
                    "y": -1.2308030128479004,
                    "z": -0.07362572848796844
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.38502836227417,
                "transform": {
                    "location": {
                        "x": 3532.74560546875,
                        "y": 4209.2939453125,
                        "z": 367.32281494140625
                    },
                    "rotation": {
                        "roll": 0.002361333230510354,
                        "pitch": 0.08229011297225952,
                        "yaw": 99.62812805175781
                    }
                },
                "velocity": {
                    "x": -0.8969755172729492,
                    "y": 5.309790134429932,
                    "z": 0.009703054092824459
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.68732738494873,
                "transform": {
                    "location": {
                        "x": 3484.41064453125,
                        "y": 4232.25537109375,
                        "z": 366.90277099609375
                    },
                    "rotation": {
                        "roll": 0.00016167845751624554,
                        "pitch": 0.6905593872070312,
                        "yaw": 8.992480278015137
                    }
                },
                "velocity": {
                    "x": 8.58012866973877,
                    "y": 1.356750726699829,
                    "z": 0.10138257592916489
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.976325988769531,
                "transform": {
                    "location": {
                        "x": 3564.779296875,
                        "y": 4244.96728515625,
                        "z": 367.69927978515625
                    },
                    "rotation": {
                        "roll": -0.0010070783318951726,
                        "pitch": 0.6706835627555847,
                        "yaw": 8.99735164642334
                    }
                },
                "velocity": {
                    "x": 12.816082000732422,
                    "y": 2.0291295051574707,
                    "z": 0.12536635994911194
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.250631332397461,
                "transform": {
                    "location": {
                        "x": 3507.882080078125,
                        "y": 4235.9677734375,
                        "z": 367.15869140625
                    },
                    "rotation": {
                        "roll": -0.0007019016775302589,
                        "pitch": 0.49744948744773865,
                        "yaw": 8.86573600769043
                    }
                },
                "velocity": {
                    "x": 6.173985481262207,
                    "y": 0.9741827845573425,
                    "z": 0.05714929476380348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.239367485046387,
                "transform": {
                    "location": {
                        "x": 3520.21484375,
                        "y": 4306.06005859375,
                        "z": 367.6053161621094
                    },
                    "rotation": {
                        "roll": 0.005415672902017832,
                        "pitch": -0.05157475546002388,
                        "yaw": -80.7048568725586
                    }
                },
                "velocity": {
                    "x": 1.3294192552566528,
                    "y": -8.131322860717773,
                    "z": -0.037484388798475266
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.348981857299805,
                "transform": {
                    "location": {
                        "x": 3517.279541015625,
                        "y": 4304.21044921875,
                        "z": 367.60308837890625
                    },
                    "rotation": {
                        "roll": -0.0004882956854999065,
                        "pitch": 0.2296036332845688,
                        "yaw": 99.2377700805664
                    }
                },
                "velocity": {
                    "x": -1.660041332244873,
                    "y": 10.214860916137695,
                    "z": 0.048104848712682724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.93281364440918,
                "transform": {
                    "location": {
                        "x": 3522.98828125,
                        "y": 4289.0234375,
                        "z": 367.5257873535156
                    },
                    "rotation": {
                        "roll": 0.0011739557376131415,
                        "pitch": -0.30963295698165894,
                        "yaw": -80.79450988769531
                    }
                },
                "velocity": {
                    "x": 1.2710198163986206,
                    "y": -7.830242156982422,
                    "z": -0.03680144250392914
                },
                "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": 0.06872296333312988,
        "expert_target_speed": 9.54228450808517,
        "target_point": [
            13.271485072136517,
            0.2811769340936858
        ],
        "target_point_next": [
            19.721878817933526,
            6.939263806145543
        ]
    },
    "145": {
        "acceleration": [
            -1.011192798614502,
            6.965065002441406,
            0.02525579184293747
        ],
        "angular_velocity": [
            0.6555784344673157,
            -0.00037597722257487476,
            -0.030169324949383736
        ],
        "forward_vector": [
            0.14175103604793549,
            -0.989791214466095,
            -0.014834336005151272
        ],
        "right_vector": [
            0.9898986220359802,
            0.14177583158016205,
            -0.000628311128821224
        ],
        "location": [
            3528.03271484375,
            4256.8369140625,
            367.39703369140625
        ],
        "rotation": [
            0.03600354120135307,
            -0.8499760031700134,
            -81.84991455078125
        ],
        "velocity": [
            1.2075729370117188,
            -8.437549591064453,
            -0.027684401720762253
        ],
        "speed": 8.523524828372064,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.84471893310547,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3567.247802734375,
                4242.23974609375,
                367.6803283691406
            ],
            "velocity": [
                -8.173527717590332,
                -1.3294434547424316,
                -0.08116495609283447
            ],
            "speed_kmh": 29.812817654085553,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3452.84716796875,
                        "y": 4227.2626953125,
                        "z": 366.57818603515625
                    },
                    "rotation": {
                        "roll": 6.670650698481495e-09,
                        "pitch": 0.7321074604988098,
                        "yaw": 8.988388061523438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.009362468495965004,
                "transform": {
                    "location": {
                        "x": 3535.3369140625,
                        "y": 4193.69921875,
                        "z": 367.2584533691406
                    },
                    "rotation": {
                        "roll": 0.00019508310651872307,
                        "pitch": 0.019677773118019104,
                        "yaw": 99.20792388916016
                    }
                },
                "velocity": {
                    "x": -3.958029628847726e-05,
                    "y": -0.0001633667852729559,
                    "z": -0.009360959753394127
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.28133773803711,
                "transform": {
                    "location": {
                        "x": 3567.247802734375,
                        "y": 4242.23974609375,
                        "z": 367.6803283691406
                    },
                    "rotation": {
                        "roll": -0.0023498497903347015,
                        "pitch": -0.5408621430397034,
                        "yaw": -170.7488250732422
                    }
                },
                "velocity": {
                    "x": -8.173527717590332,
                    "y": -1.3294434547424316,
                    "z": -0.08116495609283447
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.869594097137451,
                "transform": {
                    "location": {
                        "x": 3532.50439453125,
                        "y": 4210.7265625,
                        "z": 367.3240966796875
                    },
                    "rotation": {
                        "roll": 0.002087811240926385,
                        "pitch": 0.21405129134655,
                        "yaw": 99.66477966308594
                    }
                },
                "velocity": {
                    "x": -1.1407675743103027,
                    "y": 6.774205684661865,
                    "z": 0.010554151609539986
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.920797348022461,
                "transform": {
                    "location": {
                        "x": 3486.69482421875,
                        "y": 4232.61669921875,
                        "z": 366.9294738769531
                    },
                    "rotation": {
                        "roll": 0.00017505951109342277,
                        "pitch": 0.6870964765548706,
                        "yaw": 8.981879234313965
                    }
                },
                "velocity": {
                    "x": 9.798474311828613,
                    "y": 1.5489957332611084,
                    "z": 0.11281360685825348
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.649201393127441,
                "transform": {
                    "location": {
                        "x": 3568.087158203125,
                        "y": 4245.49072265625,
                        "z": 367.7320556640625
                    },
                    "rotation": {
                        "roll": 0.0005279492470435798,
                        "pitch": 0.6466617584228516,
                        "yaw": 8.99734878540039
                    }
                },
                "velocity": {
                    "x": 13.480627059936523,
                    "y": 2.134509325027466,
                    "z": 0.13136141002178192
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.4808125495910645,
                "transform": {
                    "location": {
                        "x": 3509.56298828125,
                        "y": 4236.23388671875,
                        "z": 367.1747131347656
                    },
                    "rotation": {
                        "roll": 0.00019988411804661155,
                        "pitch": 0.3790823221206665,
                        "yaw": 8.89762020111084
                    }
                },
                "velocity": {
                    "x": 7.3886332511901855,
                    "y": 1.1689131259918213,
                    "z": 0.06555797159671783
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.564610004425049,
                "transform": {
                    "location": {
                        "x": 3520.53271484375,
                        "y": 4304.11376953125,
                        "z": 367.5973815917969
                    },
                    "rotation": {
                        "roll": 0.0035602629650384188,
                        "pitch": -0.3522396683692932,
                        "yaw": -80.72252655029297
                    }
                },
                "velocity": {
                    "x": 1.219339370727539,
                    "y": -7.465604782104492,
                    "z": -0.03582095727324486
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.784923553466797,
                "transform": {
                    "location": {
                        "x": 3516.877197265625,
                        "y": 4306.68798828125,
                        "z": 367.6147155761719
                    },
                    "rotation": {
                        "roll": -0.0019226218573749065,
                        "pitch": 0.18892301619052887,
                        "yaw": 99.2134017944336
                    }
                },
                "velocity": {
                    "x": -1.5690141916275024,
                    "y": 9.658203125,
                    "z": 0.04522666707634926
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.072192192077637,
                "transform": {
                    "location": {
                        "x": 3523.30859375,
                        "y": 4287.0498046875,
                        "z": 367.5162048339844
                    },
                    "rotation": {
                        "roll": 3.445810580160469e-05,
                        "pitch": -0.25423330068588257,
                        "yaw": -80.76653289794922
                    }
                },
                "velocity": {
                    "x": 1.2932302951812744,
                    "y": -7.967835903167725,
                    "z": -0.03790794312953949
                },
                "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": 0.10764172673225403,
        "expert_target_speed": 8.003449849169563,
        "target_point": [
            10.918755296484015,
            0.2884950247010758
        ],
        "target_point_next": [
            17.364865963568366,
            6.950728699626309
        ]
    },
    "150": {
        "acceleration": [
            -0.2666807174682617,
            1.8341732025146484,
            0.011539645493030548
        ],
        "angular_velocity": [
            -1.3054474592208862,
            -0.18675647675991058,
            -0.03146582469344139
        ],
        "forward_vector": [
            0.14161035418510437,
            -0.9898338317871094,
            -0.013246147893369198
        ],
        "right_vector": [
            0.9899200201034546,
            0.14162690937519073,
            -0.0003155655867885798
        ],
        "location": [
            3528.3115234375,
            4254.890625,
            367.3905334472656
        ],
        "rotation": [
            0.018082162365317345,
            -0.7589705586433411,
            -81.85823822021484
        ],
        "velocity": [
            1.0569590330123901,
            -7.394147872924805,
            -0.023647522553801537
        ],
        "speed": 7.469309550697768,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 39.121185302734375,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3565.2158203125,
                4241.9111328125,
                367.66058349609375
            ],
            "velocity": [
                -8.011588096618652,
                -1.286777138710022,
                -0.0794304832816124
            ],
            "speed_kmh": 29.212763028066448,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3456.303466796875,
                        "y": 4227.8095703125,
                        "z": 366.57952880859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7346346378326416,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.002348810201510787,
                "transform": {
                    "location": {
                        "x": 3535.3369140625,
                        "y": 4193.69970703125,
                        "z": 367.25823974609375
                    },
                    "rotation": {
                        "roll": 0.0005754571175202727,
                        "pitch": 0.06551516801118851,
                        "yaw": 99.2079086303711
                    }
                },
                "velocity": {
                    "x": 0.00011206835915800184,
                    "y": -3.962963546655374e-06,
                    "z": 0.002346131717786193
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.114656448364258,
                "transform": {
                    "location": {
                        "x": 3565.2158203125,
                        "y": 4241.9111328125,
                        "z": 367.66058349609375
                    },
                    "rotation": {
                        "roll": -0.0005798360798507929,
                        "pitch": -0.5537370443344116,
                        "yaw": -170.83998107910156
                    }
                },
                "velocity": {
                    "x": -8.011588096618652,
                    "y": -1.286777138710022,
                    "z": -0.0794304832816124
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.229062557220459,
                "transform": {
                    "location": {
                        "x": 3532.19775390625,
                        "y": 4212.546875,
                        "z": 367.32757568359375
                    },
                    "rotation": {
                        "roll": 0.005914981942623854,
                        "pitch": 0.16643120348453522,
                        "yaw": 99.58851623535156
                    }
                },
                "velocity": {
                    "x": -1.1863536834716797,
                    "y": 7.131038665771484,
                    "z": 0.013886451721191406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.621696472167969,
                "transform": {
                    "location": {
                        "x": 3489.264892578125,
                        "y": 4233.02294921875,
                        "z": 366.9588317871094
                    },
                    "rotation": {
                        "roll": 8.58698840602301e-05,
                        "pitch": 0.6547623872756958,
                        "yaw": 8.982226371765137
                    }
                },
                "velocity": {
                    "x": 10.490635871887207,
                    "y": 1.6592392921447754,
                    "z": 0.11800923943519592
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.526211738586426,
                "transform": {
                    "location": {
                        "x": 3571.447998046875,
                        "y": 4246.0224609375,
                        "z": 367.7657470703125
                    },
                    "rotation": {
                        "roll": -0.0012817414244636893,
                        "pitch": 0.572021484375,
                        "yaw": 8.992947578430176
                    }
                },
                "velocity": {
                    "x": 13.359331130981445,
                    "y": 2.114117383956909,
                    "z": 0.13110660016536713
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.8705315589904785,
                "transform": {
                    "location": {
                        "x": 3511.3544921875,
                        "y": 4236.5166015625,
                        "z": 367.1894836425781
                    },
                    "rotation": {
                        "roll": -0.0009460467845201492,
                        "pitch": 0.5199481248855591,
                        "yaw": 8.953746795654297
                    }
                },
                "velocity": {
                    "x": 6.785856246948242,
                    "y": 1.0736345052719116,
                    "z": 0.06055227294564247
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7339277267456055,
                "transform": {
                    "location": {
                        "x": 3520.836181640625,
                        "y": 4302.25244140625,
                        "z": 367.5883483886719
                    },
                    "rotation": {
                        "roll": 0.0029918900690972805,
                        "pitch": -0.2984655797481537,
                        "yaw": -80.7370376586914
                    }
                },
                "velocity": {
                    "x": 1.244850754737854,
                    "y": -7.632996082305908,
                    "z": -0.03684123978018761
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.411035537719727,
                "transform": {
                    "location": {
                        "x": 3516.492431640625,
                        "y": 4309.05224609375,
                        "z": 367.625732421875
                    },
                    "rotation": {
                        "roll": -0.0015563989290967584,
                        "pitch": 0.20166131854057312,
                        "yaw": 99.24732971191406
                    }
                },
                "velocity": {
                    "x": -1.5100268125534058,
                    "y": 9.288999557495117,
                    "z": 0.043466709554195404
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037050247192383,
                "transform": {
                    "location": {
                        "x": 3523.632080078125,
                        "y": 4285.0576171875,
                        "z": 367.5068664550781
                    },
                    "rotation": {
                        "roll": 0.0006430182256735861,
                        "pitch": -0.2610156536102295,
                        "yaw": -80.79106903076172
                    }
                },
                "velocity": {
                    "x": 1.2870376110076904,
                    "y": -7.933241844177246,
                    "z": -0.03723575919866562
                },
                "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": 0.14675691723823547,
        "expert_target_speed": 6.935010557700647,
        "target_point": [
            8.95255571390246,
            0.2897242418417487
        ],
        "target_point_next": [
            15.397696594331325,
            6.95289610687953
        ]
    },
    "155": {
        "acceleration": [
            -2.7357025146484375,
            19.4362735748291,
            0.09802836924791336
        ],
        "angular_velocity": [
            4.378133773803711,
            0.52751225233078,
            0.14939279854297638
        ],
        "forward_vector": [
            0.14272218942642212,
            -0.9894564151763916,
            -0.02462257444858551
        ],
        "right_vector": [
            0.9897559881210327,
            0.14276915788650513,
            -0.00015075875853653997
        ],
        "location": [
            3528.506591796875,
            4253.5244140625,
            367.3885192871094
        ],
        "rotation": [
            0.008640460669994354,
            -1.4109121561050415,
            -81.79209899902344
        ],
        "velocity": [
            0.47802039980888367,
            -3.3252077102661133,
            -0.012789182364940643
        ],
        "speed": 3.3593912869814155,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.73503112792969,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3563.25,
                4241.595703125,
                367.6414794921875
            ],
            "velocity": [
                -7.72800350189209,
                -1.2363495826721191,
                -0.07598210871219635
            ],
            "speed_kmh": 28.17592194035359,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3459.760498046875,
                        "y": 4228.3564453125,
                        "z": 366.6002197265625
                    },
                    "rotation": {
                        "roll": -6.670658692087272e-09,
                        "pitch": 0.7371686100959778,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9319685101509094,
                "transform": {
                    "location": {
                        "x": 3535.321533203125,
                        "y": 4193.7890625,
                        "z": 367.2584533691406
                    },
                    "rotation": {
                        "roll": -0.0007019030163064599,
                        "pitch": 0.09842301905155182,
                        "yaw": 99.22870635986328
                    }
                },
                "velocity": {
                    "x": -0.15879501402378082,
                    "y": 0.9183377027511597,
                    "z": 0.0022875021677464247
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.8266448974609375,
                "transform": {
                    "location": {
                        "x": 3563.25,
                        "y": 4241.595703125,
                        "z": 367.6414794921875
                    },
                    "rotation": {
                        "roll": 0.0008657440193928778,
                        "pitch": -0.5572819113731384,
                        "yaw": -170.90048217773438
                    }
                },
                "velocity": {
                    "x": -7.72800350189209,
                    "y": -1.2363495826721191,
                    "z": -0.07598210871219635
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.0560760498046875,
                "transform": {
                    "location": {
                        "x": 3531.92236328125,
                        "y": 4214.2021484375,
                        "z": 367.3316955566406
                    },
                    "rotation": {
                        "roll": 0.0028241451364010572,
                        "pitch": 0.03339279443025589,
                        "yaw": 99.43344116210938
                    }
                },
                "velocity": {
                    "x": -0.9864473342895508,
                    "y": 5.975183486938477,
                    "z": 0.012764396145939827
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.447397232055664,
                "transform": {
                    "location": {
                        "x": 3491.74951171875,
                        "y": 4233.416015625,
                        "z": 366.98687744140625
                    },
                    "rotation": {
                        "roll": -0.0008239710005000234,
                        "pitch": 0.6062065958976746,
                        "yaw": 8.98854923248291
                    }
                },
                "velocity": {
                    "x": 9.330848693847656,
                    "y": 1.4758262634277344,
                    "z": 0.10255462676286697
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.435279846191406,
                "transform": {
                    "location": {
                        "x": 3574.771484375,
                        "y": 4246.548828125,
                        "z": 367.7986145019531
                    },
                    "rotation": {
                        "roll": -0.0004577609070111066,
                        "pitch": 0.5556085109710693,
                        "yaw": 8.983492851257324
                    }
                },
                "velocity": {
                    "x": 13.269732475280762,
                    "y": 2.098545551300049,
                    "z": 0.13057146966457367
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.873958110809326,
                "transform": {
                    "location": {
                        "x": 3512.905029296875,
                        "y": 4236.76123046875,
                        "z": 367.20257568359375
                    },
                    "rotation": {
                        "roll": 5.5918400903465226e-05,
                        "pitch": 0.5831820368766785,
                        "yaw": 8.974664688110352
                    }
                },
                "velocity": {
                    "x": 5.8015289306640625,
                    "y": 0.9181350469589233,
                    "z": 0.051695048809051514
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.850064277648926,
                "transform": {
                    "location": {
                        "x": 3521.154296875,
                        "y": 4300.3017578125,
                        "z": 367.5788269042969
                    },
                    "rotation": {
                        "roll": 0.001134779886342585,
                        "pitch": -0.2151441127061844,
                        "yaw": -80.7409896850586
                    }
                },
                "velocity": {
                    "x": 1.2629740238189697,
                    "y": -7.747711181640625,
                    "z": -0.0371767021715641
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.02358627319336,
                "transform": {
                    "location": {
                        "x": 3516.123046875,
                        "y": 4311.32666015625,
                        "z": 367.6363525390625
                    },
                    "rotation": {
                        "roll": -0.0010681109270080924,
                        "pitch": 0.20342351496219635,
                        "yaw": 99.22039031982422
                    }
                },
                "velocity": {
                    "x": -1.4483846426010132,
                    "y": 8.906493186950684,
                    "z": 0.0409768670797348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.002985000610352,
                "transform": {
                    "location": {
                        "x": 3523.95263671875,
                        "y": 4283.08251953125,
                        "z": 367.4977722167969
                    },
                    "rotation": {
                        "roll": 0.00011460710811661556,
                        "pitch": -0.277619868516922,
                        "yaw": -80.76509094238281
                    }
                },
                "velocity": {
                    "x": 1.2821818590164185,
                    "y": -7.8995208740234375,
                    "z": -0.03676639497280121
                },
                "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": 0.18552997708320618,
        "expert_target_speed": 3.544605884455975,
        "target_point": [
            7.572819084688842,
            0.281363053686545
        ],
        "target_point_next": [
            14.0256505629561,
            6.9370873707454805
        ]
    },
    "160": {
        "acceleration": [
            -0.014900722540915012,
            0.1378544121980667,
            0.017394009977579117
        ],
        "angular_velocity": [
            -3.7376809120178223,
            -0.5357414484024048,
            0.0020975018851459026
        ],
        "forward_vector": [
            0.14329537749290466,
            -0.9891349077224731,
            -0.032842449843883514
        ],
        "right_vector": [
            0.9896685481071472,
            0.1433742344379425,
            -4.6342607674887404e-05
        ],
        "location": [
            3528.543701171875,
            4253.2646484375,
            367.389404296875
        ],
        "rotation": [
            0.002656669123098254,
            -1.8820722103118896,
            -81.75694274902344
        ],
        "velocity": [
            -0.001547473599202931,
            0.010894035920500755,
            3.6604757042368874e-05
        ],
        "speed": 0.011003394620633707,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.93389129638672,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3561.361572265625,
                4241.29345703125,
                367.623046875
            ],
            "velocity": [
                -7.400094509124756,
                -1.1788380146026611,
                -0.07185389846563339
            ],
            "speed_kmh": 26.977483601259504,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 3577.5498046875,
                        "y": 4243.95068359375,
                        "z": 368.06988525390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5571863055229187,
                        "yaw": -171.0115966796875
                    }
                },
                "velocity": {
                    "x": 1.461156973192601e-09,
                    "y": 2.311209140737347e-10,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3463.217529296875,
                        "y": 4228.9033203125,
                        "z": 366.64019775390625
                    },
                    "rotation": {
                        "roll": -6.670658692087272e-09,
                        "pitch": 0.7371686100959778,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5352973937988281,
                "transform": {
                    "location": {
                        "x": 3535.2685546875,
                        "y": 4194.1005859375,
                        "z": 367.2589416503906
                    },
                    "rotation": {
                        "roll": -0.0011291472474113107,
                        "pitch": 0.09816347062587738,
                        "yaw": 99.3898696899414
                    }
                },
                "velocity": {
                    "x": -0.26347261667251587,
                    "y": 1.5125199556350708,
                    "z": 0.0019284343579784036
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.49374532699585,
                "transform": {
                    "location": {
                        "x": 3561.361572265625,
                        "y": 4241.29345703125,
                        "z": 367.623046875
                    },
                    "rotation": {
                        "roll": -3.052051761187613e-05,
                        "pitch": -0.5576712489128113,
                        "yaw": -170.93292236328125
                    }
                },
                "velocity": {
                    "x": -7.400094509124756,
                    "y": -1.1788380146026611,
                    "z": -0.07185389846563339
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.039517402648926,
                "transform": {
                    "location": {
                        "x": 3531.705810546875,
                        "y": 4215.509765625,
                        "z": 367.3344421386719
                    },
                    "rotation": {
                        "roll": 0.0011087084421887994,
                        "pitch": 0.004412301816046238,
                        "yaw": 99.39360809326172
                    }
                },
                "velocity": {
                    "x": -0.8213375806808472,
                    "y": 4.972127437591553,
                    "z": 0.009440307505428791
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.160189628601074,
                "transform": {
                    "location": {
                        "x": 3493.916259765625,
                        "y": 4233.7587890625,
                        "z": 367.0104064941406
                    },
                    "rotation": {
                        "roll": 0.0001121368768508546,
                        "pitch": 0.5787970423698425,
                        "yaw": 8.989258766174316
                    }
                },
                "velocity": {
                    "x": 8.05951976776123,
                    "y": 1.2749011516571045,
                    "z": 0.08636806160211563
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4314,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.468628883361816,
                "transform": {
                    "location": {
                        "x": 3578.0927734375,
                        "y": 4247.07373046875,
                        "z": 367.8312683105469
                    },
                    "rotation": {
                        "roll": -9.155161387752742e-05,
                        "pitch": 0.5618376731872559,
                        "yaw": 8.988048553466797
                    }
                },
                "velocity": {
                    "x": 13.302722930908203,
                    "y": 2.10343599319458,
                    "z": 0.1307390183210373
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.2863054275512695,
                "transform": {
                    "location": {
                        "x": 3514.165283203125,
                        "y": 4236.96044921875,
                        "z": 367.212646484375
                    },
                    "rotation": {
                        "roll": 0.000105067461845465,
                        "pitch": 0.6432603597640991,
                        "yaw": 8.975862503051758
                    }
                },
                "velocity": {
                    "x": 4.233417510986328,
                    "y": 0.6702821850776672,
                    "z": 0.03621312230825424
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.579712390899658,
                "transform": {
                    "location": {
                        "x": 3521.4619140625,
                        "y": 4298.41259765625,
                        "z": 367.5704345703125
                    },
                    "rotation": {
                        "roll": 0.0019285482121631503,
                        "pitch": -0.3384358584880829,
                        "yaw": -80.75213623046875
                    }
                },
                "velocity": {
                    "x": 1.2181203365325928,
                    "y": -7.48110294342041,
                    "z": -0.036337852478027344
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.620685577392578,
                "transform": {
                    "location": {
                        "x": 3515.769287109375,
                        "y": 4313.5009765625,
                        "z": 367.64642333984375
                    },
                    "rotation": {
                        "roll": 0.0002970149798784405,
                        "pitch": 0.20086219906806946,
                        "yaw": 99.24944305419922
                    }
                },
                "velocity": {
                    "x": -1.3832801580429077,
                    "y": 8.508885383605957,
                    "z": 0.04031601920723915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.969987392425537,
                "transform": {
                    "location": {
                        "x": 3524.2744140625,
                        "y": 4281.1025390625,
                        "z": 367.4887390136719
                    },
                    "rotation": {
                        "roll": -0.00039674207800999284,
                        "pitch": -0.26214948296546936,
                        "yaw": -80.78568267822266
                    }
                },
                "velocity": {
                    "x": 1.2782273292541504,
                    "y": -7.866734027862549,
                    "z": -0.036476217210292816
                },
                "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": 0.180791437625885,
        "expert_target_speed": 0.3710855269297214,
        "target_point": [
            13.767493965426105,
            6.929013498003466
        ],
        "target_point_next": [
            13.104212940914806,
            57.92473010718669
        ]
    },
    "165": {
        "acceleration": [
            0.006595700979232788,
            -0.029742196202278137,
            -0.02814299426972866
        ],
        "angular_velocity": [
            -2.9487950801849365,
            -0.40010538697242737,
            0.0012277800124138594
        ],
        "forward_vector": [
            0.14336226880550385,
            -0.9895457625389099,
            -0.01569802686572075
        ],
        "right_vector": [
            0.9896675944328308,
            0.14338095486164093,
            -6.603216752409935e-05
        ],
        "location": [
            3528.544921875,
            4253.25830078125,
            367.38580322265625
        ],
        "rotation": [
            0.003783830441534519,
            -0.8994675874710083,
            -81.75652313232422
        ],
        "velocity": [
            -0.0012335228966549039,
            0.009155872277915478,
            0.000820831919554621
        ],
        "speed": 0.00923859166248152,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.330448150634766,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3559.540283203125,
                4241.00439453125,
                367.6053466796875
            ],
            "velocity": [
                -7.181484222412109,
                -1.1405121088027954,
                -0.06913698464632034
            ],
            "speed_kmh": 26.17852658285502,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.05385994538664818,
                "transform": {
                    "location": {
                        "x": 3577.55078125,
                        "y": 4243.95068359375,
                        "z": 367.7290954589844
                    },
                    "rotation": {
                        "roll": 0.001117779640480876,
                        "pitch": -0.559050977230072,
                        "yaw": -171.01161193847656
                    }
                },
                "velocity": {
                    "x": 0.0005088774487376213,
                    "y": 1.5498371794819832e-05,
                    "z": -0.05385753884911537
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04874324798584,
                "transform": {
                    "location": {
                        "x": 3465.7861328125,
                        "y": 4229.31005859375,
                        "z": 366.7001953125
                    },
                    "rotation": {
                        "roll": -0.0004577643994707614,
                        "pitch": 0.26826250553131104,
                        "yaw": 8.986358642578125
                    }
                },
                "velocity": {
                    "x": 7.948136329650879,
                    "y": 1.2568254470825195,
                    "z": 0.17257638275623322
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0484447479248047,
                "transform": {
                    "location": {
                        "x": 3535.193115234375,
                        "y": 4194.541015625,
                        "z": 367.2596435546875
                    },
                    "rotation": {
                        "roll": 0.00020769069669768214,
                        "pitch": 0.09103958308696747,
                        "yaw": 99.51051330566406
                    }
                },
                "velocity": {
                    "x": -0.352836549282074,
                    "y": 2.017827272415161,
                    "z": 0.0023118495009839535
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.271812915802002,
                "transform": {
                    "location": {
                        "x": 3559.540283203125,
                        "y": 4241.00439453125,
                        "z": 367.6053466796875
                    },
                    "rotation": {
                        "roll": 0.0012022062437608838,
                        "pitch": -0.5548709034919739,
                        "yaw": -170.9641571044922
                    }
                },
                "velocity": {
                    "x": -7.181484222412109,
                    "y": -1.1405121088027954,
                    "z": -0.06913698464632034
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.634131908416748,
                "transform": {
                    "location": {
                        "x": 3531.48779296875,
                        "y": 4216.8310546875,
                        "z": 367.3358459472656
                    },
                    "rotation": {
                        "roll": 0.002163628116250038,
                        "pitch": 0.1326012909412384,
                        "yaw": 99.37592315673828
                    }
                },
                "velocity": {
                    "x": -0.9153720736503601,
                    "y": 5.559267520904541,
                    "z": 0.008956441655755043
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.5414958000183105,
                "transform": {
                    "location": {
                        "x": 3495.740966796875,
                        "y": 4234.04736328125,
                        "z": 367.0299377441406
                    },
                    "rotation": {
                        "roll": 1.2753843293467071e-05,
                        "pitch": 0.5555402636528015,
                        "yaw": 8.989500045776367
                    }
                },
                "velocity": {
                    "x": 6.460809707641602,
                    "y": 1.022013783454895,
                    "z": 0.06775325536727905
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.96199369430542,
                "transform": {
                    "location": {
                        "x": 3515.286865234375,
                        "y": 4237.13818359375,
                        "z": 367.2238464355469
                    },
                    "rotation": {
                        "roll": 0.001599200302734971,
                        "pitch": 0.46330535411834717,
                        "yaw": 8.981606483459473
                    }
                },
                "velocity": {
                    "x": 4.900500297546387,
                    "y": 0.7776404619216919,
                    "z": 0.04185181483626366
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.410995006561279,
                "transform": {
                    "location": {
                        "x": 3521.7666015625,
                        "y": 4296.5390625,
                        "z": 367.56146240234375
                    },
                    "rotation": {
                        "roll": 0.0010764123871922493,
                        "pitch": -0.3249872028827667,
                        "yaw": -80.75957489013672
                    }
                },
                "velocity": {
                    "x": 1.1899737119674683,
                    "y": -7.314749717712402,
                    "z": -0.03530410677194595
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.264599800109863,
                "transform": {
                    "location": {
                        "x": 3515.431396484375,
                        "y": 4315.58203125,
                        "z": 367.6561584472656
                    },
                    "rotation": {
                        "roll": -0.0002441541291773319,
                        "pitch": 0.20503543317317963,
                        "yaw": 99.21111297607422
                    }
                },
                "velocity": {
                    "x": -1.3254824876785278,
                    "y": 8.157527923583984,
                    "z": 0.03786488622426987
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.973753452301025,
                "transform": {
                    "location": {
                        "x": 3524.57373046875,
                        "y": 4279.2607421875,
                        "z": 367.48138427734375
                    },
                    "rotation": {
                        "roll": 0.0001564336271258071,
                        "pitch": -0.5139443874359131,
                        "yaw": -80.75941467285156
                    }
                },
                "velocity": {
                    "x": 1.118751049041748,
                    "y": -6.88336181640625,
                    "z": -0.03104335255920887
                },
                "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": 0.183881476521492,
        "expert_target_speed": 0.36942072570756695,
        "target_point": [
            13.761091592976232,
            6.928606801031746
        ],
        "target_point_next": [
            13.09821331304411,
            57.92432864696306
        ]
    },
    "170": {
        "acceleration": [
            -0.020741485059261322,
            0.11026009917259216,
            -0.0019832607358694077
        ],
        "angular_velocity": [
            -1.047985315322876,
            -0.16959339380264282,
            0.007166464813053608
        ],
        "forward_vector": [
            0.1434515118598938,
            -0.9896321296691895,
            -0.007057726848870516
        ],
        "right_vector": [
            0.9896567463874817,
            0.14345556497573853,
            -6.86740895616822e-05
        ],
        "location": [
            3528.547119140625,
            4253.2421875,
            367.3840026855469
        ],
        "rotation": [
            0.003934833686798811,
            -0.40438133478164673,
            -81.7521743774414
        ],
        "velocity": [
            0.007203838787972927,
            -0.051093414425849915,
            0.000696907052770257
        ],
        "speed": 0.051598762494605925,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.80291175842285,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3557.782470703125,
                4240.72509765625,
                367.5885314941406
            ],
            "velocity": [
                -6.894194602966309,
                -1.09434175491333,
                -0.06691166758537292
            ],
            "speed_kmh": 25.130986138968524,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.28520405292510986,
                "transform": {
                    "location": {
                        "x": 3577.546875,
                        "y": 4243.94970703125,
                        "z": 367.76007080078125
                    },
                    "rotation": {
                        "roll": 0.0004260595014784485,
                        "pitch": -0.5525827407836914,
                        "yaw": -171.0081329345703
                    }
                },
                "velocity": {
                    "x": -0.26185342669487,
                    "y": -0.04625435546040535,
                    "z": 0.10312455892562866
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.954661846160889,
                "transform": {
                    "location": {
                        "x": 3467.762939453125,
                        "y": 4229.62255859375,
                        "z": 366.7315673828125
                    },
                    "rotation": {
                        "roll": 0.0004473457229323685,
                        "pitch": 0.6066300272941589,
                        "yaw": 8.985658645629883
                    }
                },
                "velocity": {
                    "x": 7.856178283691406,
                    "y": 1.2423182725906372,
                    "z": 0.11727885901927948
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.595398187637329,
                "transform": {
                    "location": {
                        "x": 3535.09375,
                        "y": 4195.11572265625,
                        "z": 367.2603454589844
                    },
                    "rotation": {
                        "roll": -0.0005493172793649137,
                        "pitch": 0.09163381159305573,
                        "yaw": 99.6286392211914
                    }
                },
                "velocity": {
                    "x": -0.4475178122520447,
                    "y": 2.556523084640503,
                    "z": 0.0030744837131351233
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.980829238891602,
                "transform": {
                    "location": {
                        "x": 3557.782470703125,
                        "y": 4240.72509765625,
                        "z": 367.5885314941406
                    },
                    "rotation": {
                        "roll": 0.00030976044945418835,
                        "pitch": -0.545342743396759,
                        "yaw": -170.97596740722656
                    }
                },
                "velocity": {
                    "x": -6.894194602966309,
                    "y": -1.09434175491333,
                    "z": -0.06691166758537292
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.900619983673096,
                "transform": {
                    "location": {
                        "x": 3531.25048828125,
                        "y": 4218.2763671875,
                        "z": 367.3385009765625
                    },
                    "rotation": {
                        "roll": 0.0017082991544157267,
                        "pitch": 0.1365286409854889,
                        "yaw": 99.30308532714844
                    }
                },
                "velocity": {
                    "x": -0.9519255757331848,
                    "y": 5.823318958282471,
                    "z": 0.010464286431670189
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.283530235290527,
                "transform": {
                    "location": {
                        "x": 3497.29248046875,
                        "y": 4234.29296875,
                        "z": 367.0460205078125
                    },
                    "rotation": {
                        "roll": -0.0002136278199031949,
                        "pitch": 0.5812559127807617,
                        "yaw": 8.986776351928711
                    }
                },
                "velocity": {
                    "x": 6.206068992614746,
                    "y": 0.9814139604568481,
                    "z": 0.0654420256614685
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.094737529754639,
                "transform": {
                    "location": {
                        "x": 3516.55078125,
                        "y": 4237.337890625,
                        "z": 367.2349548339844
                    },
                    "rotation": {
                        "roll": 0.0003895668196491897,
                        "pitch": 0.46115386486053467,
                        "yaw": 8.980205535888672
                    }
                },
                "velocity": {
                    "x": 5.032106399536133,
                    "y": 0.7952988147735596,
                    "z": 0.04193207621574402
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.1699371337890625,
                "transform": {
                    "location": {
                        "x": 3522.04248046875,
                        "y": 4294.84375,
                        "z": 367.554443359375
                    },
                    "rotation": {
                        "roll": 0.0004163434496149421,
                        "pitch": -0.5902102589607239,
                        "yaw": -80.76438903808594
                    }
                },
                "velocity": {
                    "x": 0.9902175068855286,
                    "y": -6.089888572692871,
                    "z": -0.029143771156668663
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.912578582763672,
                "transform": {
                    "location": {
                        "x": 3515.107421875,
                        "y": 4317.57666015625,
                        "z": 367.6653137207031
                    },
                    "rotation": {
                        "roll": 0.00020634775864891708,
                        "pitch": 0.20706400275230408,
                        "yaw": 99.2425765991211
                    }
                },
                "velocity": {
                    "x": -1.2685716152191162,
                    "y": 7.810137748718262,
                    "z": 0.03707495704293251
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9689857959747314,
                "transform": {
                    "location": {
                        "x": 3524.796142578125,
                        "y": 4277.8876953125,
                        "z": 367.4777526855469
                    },
                    "rotation": {
                        "roll": 0.0053818668238818645,
                        "pitch": -1.1957337856292725,
                        "yaw": -80.5956039428711
                    }
                },
                "velocity": {
                    "x": 0.6366686224937439,
                    "y": -3.9175407886505127,
                    "z": -0.019351528957486153
                },
                "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": 0.18863359093666077,
        "expert_target_speed": 0.4101732568410702,
        "target_point": [
            13.745353793769517,
            6.927702897934525
        ],
        "target_point_next": [
            13.08633274514287,
            57.92347473697104
        ]
    },
    "175": {
        "acceleration": [
            0.031653791666030884,
            -0.22499382495880127,
            -0.003509712405502796
        ],
        "angular_velocity": [
            -0.487033873796463,
            -0.11002112179994583,
            -0.6719359755516052
        ],
        "forward_vector": [
            0.1432597041130066,
            -0.9896825551986694,
            -0.002240179106593132
        ],
        "right_vector": [
            0.98968505859375,
            0.14326022565364838,
            -7.119180372683331e-05
        ],
        "location": [
            3528.55712890625,
            4253.1728515625,
            367.3828125
        ],
        "rotation": [
            0.0040790000930428505,
            -0.12835291028022766,
            -81.76346588134766
        ],
        "velocity": [
            0.06998053193092346,
            -0.48651260137557983,
            -0.00198021880351007
        ],
        "speed": 0.4915198736028573,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.324235916137695,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3556.0849609375,
                4240.455078125,
                367.5723876953125
            ],
            "velocity": [
                -6.695103645324707,
                -1.063024640083313,
                -0.06444893032312393
            ],
            "speed_kmh": 24.405394871155593,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4944911003112793,
                "transform": {
                    "location": {
                        "x": 3577.260498046875,
                        "y": 4243.90087890625,
                        "z": 367.7706298828125
                    },
                    "rotation": {
                        "roll": -0.0011291455011814833,
                        "pitch": -0.5014656186103821,
                        "yaw": -170.8759765625
                    }
                },
                "velocity": {
                    "x": -1.4724340438842773,
                    "y": -0.2557721734046936,
                    "z": 0.004709749016910791
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.075756072998047,
                "transform": {
                    "location": {
                        "x": 3469.693603515625,
                        "y": 4229.92724609375,
                        "z": 366.7579650878906
                    },
                    "rotation": {
                        "roll": -0.00045776553452014923,
                        "pitch": 0.6504798531532288,
                        "yaw": 8.993167877197266
                    }
                },
                "velocity": {
                    "x": 6.988254070281982,
                    "y": 1.1053354740142822,
                    "z": 0.09415891766548157
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.180293560028076,
                "transform": {
                    "location": {
                        "x": 3534.9697265625,
                        "y": 4195.828125,
                        "z": 367.26129150390625
                    },
                    "rotation": {
                        "roll": 0.00014784310769755393,
                        "pitch": 0.09407901763916016,
                        "yaw": 99.73846435546875
                    }
                },
                "velocity": {
                    "x": -0.5497013330459595,
                    "y": 3.132424831390381,
                    "z": 0.0031370734795928
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.779276371002197,
                "transform": {
                    "location": {
                        "x": 3556.0849609375,
                        "y": 4240.455078125,
                        "z": 367.5723876953125
                    },
                    "rotation": {
                        "roll": -0.0003356947854626924,
                        "pitch": -0.5418935418128967,
                        "yaw": -170.97811889648438
                    }
                },
                "velocity": {
                    "x": -6.695103645324707,
                    "y": -1.063024640083313,
                    "z": -0.06444893032312393
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.261465549468994,
                "transform": {
                    "location": {
                        "x": 3531.024658203125,
                        "y": 4219.65625,
                        "z": 367.34173583984375
                    },
                    "rotation": {
                        "roll": 0.0005642545875161886,
                        "pitch": 0.06218203902244568,
                        "yaw": 99.31687927246094
                    }
                },
                "velocity": {
                    "x": -0.8503597974777222,
                    "y": 5.19228458404541,
                    "z": 0.009502258151769638
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.105011940002441,
                "transform": {
                    "location": {
                        "x": 3498.944580078125,
                        "y": 4234.5537109375,
                        "z": 367.06268310546875
                    },
                    "rotation": {
                        "roll": -0.00021362824190873653,
                        "pitch": 0.5922866463661194,
                        "yaw": 8.98634147644043
                    }
                },
                "velocity": {
                    "x": 7.017462730407715,
                    "y": 1.109748363494873,
                    "z": 0.06979896128177643
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.767159461975098,
                "transform": {
                    "location": {
                        "x": 3517.77587890625,
                        "y": 4237.53173828125,
                        "z": 367.24468994140625
                    },
                    "rotation": {
                        "roll": 0.0011398880742490292,
                        "pitch": 0.5010626316070557,
                        "yaw": 8.98457145690918
                    }
                },
                "velocity": {
                    "x": 4.708508014678955,
                    "y": 0.7444995641708374,
                    "z": 0.0384688563644886
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7534754276275635,
                "transform": {
                    "location": {
                        "x": 3522.190185546875,
                        "y": 4293.93408203125,
                        "z": 367.55401611328125
                    },
                    "rotation": {
                        "roll": 0.0007039862684905529,
                        "pitch": -1.718782901763916,
                        "yaw": -80.77323150634766
                    }
                },
                "velocity": {
                    "x": 0.2814444601535797,
                    "y": -1.7307136058807373,
                    "z": -0.009769544005393982
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.573333740234375,
                "transform": {
                    "location": {
                        "x": 3514.79736328125,
                        "y": 4319.48486328125,
                        "z": 367.6741638183594
                    },
                    "rotation": {
                        "roll": -0.0005798295023851097,
                        "pitch": 0.20874422788619995,
                        "yaw": 99.21437072753906
                    }
                },
                "velocity": {
                    "x": -1.2151081562042236,
                    "y": 7.475131511688232,
                    "z": 0.036111582070589066
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.514063835144043,
                "transform": {
                    "location": {
                        "x": 3524.96240234375,
                        "y": 4276.8681640625,
                        "z": 367.4711608886719
                    },
                    "rotation": {
                        "roll": 0.0016679158434271812,
                        "pitch": -0.6138290762901306,
                        "yaw": -80.64625549316406
                    }
                },
                "velocity": {
                    "x": 0.7266300916671753,
                    "y": -4.455160140991211,
                    "z": -0.01817142404615879
                },
                "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": 0.19073261320590973,
        "expert_target_speed": 10.0,
        "target_point": [
            13.673936345230864,
            6.930432536400023
        ],
        "target_point_next": [
            13.004886199149698,
            57.92607378252645
        ]
    },
    "180": {
        "acceleration": [
            0.15380799770355225,
            -1.1555373668670654,
            0.00024032779037952423
        ],
        "angular_velocity": [
            -0.21941353380680084,
            -0.032178908586502075,
            0.30546998977661133
        ],
        "forward_vector": [
            0.1424570530653,
            -0.9898009896278381,
            6.628035771427676e-05
        ],
        "right_vector": [
            0.9898009896278381,
            0.1424570530653,
            -6.145257066236809e-05
        ],
        "location": [
            3528.5869140625,
            4252.96923828125,
            367.381591796875
        ],
        "rotation": [
            0.0035209727939218283,
            0.0037975849118083715,
            -81.80995178222656
        ],
        "velocity": [
            0.1521732062101364,
            -1.0569000244140625,
            -0.0023371600545942783
        ],
        "speed": 1.0677988323156749,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.846372604370117,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3554.4501953125,
                4240.1953125,
                367.5568542480469
            ],
            "velocity": [
                -6.190016269683838,
                -0.9807470440864563,
                -0.05887976661324501
            ],
            "speed_kmh": 22.563022045243713,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4531121253967285,
                "transform": {
                    "location": {
                        "x": 3576.811279296875,
                        "y": 4243.82666015625,
                        "z": 367.7681579589844
                    },
                    "rotation": {
                        "roll": -0.004486085381358862,
                        "pitch": -0.49227219820022583,
                        "yaw": -170.7130126953125
                    }
                },
                "velocity": {
                    "x": -2.418945550918579,
                    "y": -0.40743303298950195,
                    "z": -0.02145266905426979
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.984081268310547,
                "transform": {
                    "location": {
                        "x": 3471.240478515625,
                        "y": 4230.17236328125,
                        "z": 366.7786560058594
                    },
                    "rotation": {
                        "roll": 0.00019116673502139747,
                        "pitch": 0.6280632019042969,
                        "yaw": 8.974726676940918
                    }
                },
                "velocity": {
                    "x": 5.910377025604248,
                    "y": 0.9330015182495117,
                    "z": 0.07862070202827454
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.906938314437866,
                "transform": {
                    "location": {
                        "x": 3534.8173828125,
                        "y": 4196.69970703125,
                        "z": 367.2623596191406
                    },
                    "rotation": {
                        "roll": 0.0004989914014004171,
                        "pitch": 0.10036279261112213,
                        "yaw": 99.83154296875
                    }
                },
                "velocity": {
                    "x": -0.6761924624443054,
                    "y": 3.847972869873047,
                    "z": 0.005936326924711466
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.267506122589111,
                "transform": {
                    "location": {
                        "x": 3554.4501953125,
                        "y": 4240.1953125,
                        "z": 367.5568542480469
                    },
                    "rotation": {
                        "roll": 0.00017835340986493975,
                        "pitch": -0.5469000339508057,
                        "yaw": -170.9873504638672
                    }
                },
                "velocity": {
                    "x": -6.190016269683838,
                    "y": -0.9807470440864563,
                    "z": -0.05887976661324501
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.172386646270752,
                "transform": {
                    "location": {
                        "x": 3530.817138671875,
                        "y": 4220.9248046875,
                        "z": 367.3440856933594
                    },
                    "rotation": {
                        "roll": 0.0010676152305677533,
                        "pitch": 0.08986479043960571,
                        "yaw": 99.27546691894531
                    }
                },
                "velocity": {
                    "x": -0.8336706161499023,
                    "y": 5.104750156402588,
                    "z": 0.010087022557854652
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.122587203979492,
                "transform": {
                    "location": {
                        "x": 3500.7958984375,
                        "y": 4234.8466796875,
                        "z": 367.08135986328125
                    },
                    "rotation": {
                        "roll": 0.0005534074152819812,
                        "pitch": 0.5834757089614868,
                        "yaw": 8.99022388458252
                    }
                },
                "velocity": {
                    "x": 8.02255630493164,
                    "y": 1.268337607383728,
                    "z": 0.07957316935062408
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.597922325134277,
                "transform": {
                    "location": {
                        "x": 3518.923095703125,
                        "y": 4237.71337890625,
                        "z": 367.2544860839844
                    },
                    "rotation": {
                        "roll": 0.0003078270819969475,
                        "pitch": 0.49878135323524475,
                        "yaw": 8.984659194946289
                    }
                },
                "velocity": {
                    "x": 4.541342258453369,
                    "y": 0.7180304527282715,
                    "z": 0.03915323317050934
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.898732900619507,
                "transform": {
                    "location": {
                        "x": 3522.28515625,
                        "y": 4293.3505859375,
                        "z": 367.5473327636719
                    },
                    "rotation": {
                        "roll": 0.000898952828720212,
                        "pitch": -0.6763594746589661,
                        "yaw": -80.76902770996094
                    }
                },
                "velocity": {
                    "x": 0.4649278223514557,
                    "y": -2.861180543899536,
                    "z": -0.011886158026754856
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.253018856048584,
                "transform": {
                    "location": {
                        "x": 3514.500244140625,
                        "y": 4321.3125,
                        "z": 367.6826477050781
                    },
                    "rotation": {
                        "roll": 0.00020297939772717655,
                        "pitch": 0.21168804168701172,
                        "yaw": 99.25354766845703
                    }
                },
                "velocity": {
                    "x": -1.1635617017745972,
                    "y": 7.159001350402832,
                    "z": 0.03331754729151726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.641009330749512,
                "transform": {
                    "location": {
                        "x": 3525.157958984375,
                        "y": 4275.67138671875,
                        "z": 367.4649658203125
                    },
                    "rotation": {
                        "roll": 0.004064055159687996,
                        "pitch": -0.2532360851764679,
                        "yaw": -80.70264434814453
                    }
                },
                "velocity": {
                    "x": 0.7455387711524963,
                    "y": -4.580692291259766,
                    "z": -0.019940108060836792
                },
                "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": 0.1977398544549942,
        "expert_target_speed": 10.0,
        "target_point": [
            13.462530945770634,
            6.941045745083581
        ],
        "target_point_next": [
            12.752119219263125,
            57.9361275606905
        ]
    },
    "185": {
        "acceleration": [
            0.2233189344406128,
            -1.5448951721191406,
            -0.010245516896247864
        ],
        "angular_velocity": [
            0.09211879968643188,
            0.04591100662946701,
            0.007461347617208958
        ],
        "forward_vector": [
            0.14278656244277954,
            -0.9897533059120178,
            0.0005483626737259328
        ],
        "right_vector": [
            0.9897534847259521,
            0.14278656244277954,
            -4.986417116015218e-05
        ],
        "location": [
            3528.63427734375,
            4252.63916015625,
            367.3805847167969
        ],
        "rotation": [
            0.002857007086277008,
            0.03141886740922928,
            -81.7908706665039
        ],
        "velocity": [
            0.22044162452220917,
            -1.5295629501342773,
            -0.004374876152724028
        ],
        "speed": 1.5453664058227305,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.433961868286133,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3552.9619140625,
                4239.9599609375,
                367.5428161621094
            ],
            "velocity": [
                -5.930846214294434,
                -0.9396098256111145,
                -0.05668855831027031
            ],
            "speed_kmh": 21.61829736054437,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.9282028675079346,
                "transform": {
                    "location": {
                        "x": 3576.0,
                        "y": 4243.689453125,
                        "z": 367.7602233886719
                    },
                    "rotation": {
                        "roll": -0.0035095198545604944,
                        "pitch": -0.460901141166687,
                        "yaw": -170.753662109375
                    }
                },
                "velocity": {
                    "x": -3.873828887939453,
                    "y": -0.6502792835235596,
                    "z": -0.03694136068224907
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.122732639312744,
                "transform": {
                    "location": {
                        "x": 3472.740966796875,
                        "y": 4230.40966796875,
                        "z": 366.79730224609375
                    },
                    "rotation": {
                        "roll": -0.0010986400302499533,
                        "pitch": 0.7204141616821289,
                        "yaw": 9.011015892028809
                    }
                },
                "velocity": {
                    "x": 6.0469841957092285,
                    "y": 0.9570152759552002,
                    "z": 0.07720483839511871
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.835239410400391,
                "transform": {
                    "location": {
                        "x": 3534.631591796875,
                        "y": 4197.77783203125,
                        "z": 367.2637939453125
                    },
                    "rotation": {
                        "roll": 0.002741005038842559,
                        "pitch": 0.10959720611572266,
                        "yaw": 99.7883529663086
                    }
                },
                "velocity": {
                    "x": -0.8099684119224548,
                    "y": 4.766912937164307,
                    "z": 0.005731630139052868
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.005082607269287,
                "transform": {
                    "location": {
                        "x": 3552.9619140625,
                        "y": 4239.9599609375,
                        "z": 367.5428161621094
                    },
                    "rotation": {
                        "roll": -0.0001831027038861066,
                        "pitch": -0.5450080633163452,
                        "yaw": -170.99520874023438
                    }
                },
                "velocity": {
                    "x": -5.930846214294434,
                    "y": -0.9396098256111145,
                    "z": -0.05668855831027031
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.278136253356934,
                "transform": {
                    "location": {
                        "x": 3530.60302734375,
                        "y": 4222.2353515625,
                        "z": 367.3464660644531
                    },
                    "rotation": {
                        "roll": 0.0011291916016489267,
                        "pitch": 0.12239015102386475,
                        "yaw": 99.3008804321289
                    }
                },
                "velocity": {
                    "x": -0.850308358669281,
                    "y": 5.209183216094971,
                    "z": 0.010333376005291939
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.10482120513916,
                "transform": {
                    "location": {
                        "x": 3502.851806640625,
                        "y": 4235.171875,
                        "z": 367.1018371582031
                    },
                    "rotation": {
                        "roll": 0.0001275853719562292,
                        "pitch": 0.5673291683197021,
                        "yaw": 8.98813247680664
                    }
                },
                "velocity": {
                    "x": 8.00493049621582,
                    "y": 1.266139030456543,
                    "z": 0.07810142636299133
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.3306684494018555,
                "transform": {
                    "location": {
                        "x": 3520.020263671875,
                        "y": 4237.88720703125,
                        "z": 367.2638244628906
                    },
                    "rotation": {
                        "roll": 0.0002522098075132817,
                        "pitch": 0.5035351514816284,
                        "yaw": 8.98482608795166
                    }
                },
                "velocity": {
                    "x": 4.277352333068848,
                    "y": 0.6764526963233948,
                    "z": 0.03688643500208855
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.12872314453125,
                "transform": {
                    "location": {
                        "x": 3522.431884765625,
                        "y": 4292.44873046875,
                        "z": 367.5406799316406
                    },
                    "rotation": {
                        "roll": -0.00021362266852520406,
                        "pitch": -0.01535426452755928,
                        "yaw": -80.7688217163086
                    }
                },
                "velocity": {
                    "x": 0.6623485684394836,
                    "y": -4.0752058029174805,
                    "z": -0.018647771328687668
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3514.2587890625,
                        "y": 4323.10693359375,
                        "z": 367.6915588378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26058536767959595,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.693819284439087,
                "transform": {
                    "location": {
                        "x": 3525.32080078125,
                        "y": 4274.67138671875,
                        "z": 367.461669921875
                    },
                    "rotation": {
                        "roll": 0.0021953005343675613,
                        "pitch": -0.5148254632949829,
                        "yaw": -80.72798156738281
                    }
                },
                "velocity": {
                    "x": 0.5930166244506836,
                    "y": -3.6458702087402344,
                    "z": -0.016212090849876404
                },
                "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": 0.20765678584575653,
        "expert_target_speed": 10.0,
        "target_point": [
            13.131380446720232,
            6.936819455608994
        ],
        "target_point_next": [
            12.437933212691474,
            57.93213478099178
        ]
    },
    "190": {
        "acceleration": [
            0.18559813499450684,
            -1.2895488739013672,
            -0.0069320667535066605
        ],
        "angular_velocity": [
            0.1026909276843071,
            -0.0035002308432012796,
            -0.015052706003189087
        ],
        "forward_vector": [
            0.1427486091852188,
            -0.9897589683532715,
            -8.368492126464844e-05
        ],
        "right_vector": [
            0.9897589683532715,
            0.1427486091852188,
            -5.3857118473388255e-05
        ],
        "location": [
            3528.6953125,
            4252.21630859375,
            367.37945556640625
        ],
        "rotation": [
            0.0030857855454087257,
            -0.004794792737811804,
            -81.79307556152344
        ],
        "velocity": [
            0.2665995657444,
            -1.8493281602859497,
            -0.0056922053918242455
        ],
        "speed": 1.8684458710066283,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.94989585876465,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3551.436767578125,
                4239.71826171875,
                367.52838134765625
            ],
            "velocity": [
                -6.123752117156982,
                -0.9695361852645874,
                -0.056644540280103683
            ],
            "speed_kmh": 22.321030334212125,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.309275150299072,
                "transform": {
                    "location": {
                        "x": 3574.870849609375,
                        "y": 4243.5,
                        "z": 367.7491455078125
                    },
                    "rotation": {
                        "roll": -0.0045776343904435635,
                        "pitch": -0.4649036228656769,
                        "yaw": -170.71620178222656
                    }
                },
                "velocity": {
                    "x": -5.235629081726074,
                    "y": -0.8797544836997986,
                    "z": -0.051192644983530045
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.370923042297363,
                "transform": {
                    "location": {
                        "x": 3474.561767578125,
                        "y": 4230.697265625,
                        "z": 366.8191833496094
                    },
                    "rotation": {
                        "roll": -0.0006713883485645056,
                        "pitch": 0.8964554667472839,
                        "yaw": 9.020092010498047
                    }
                },
                "velocity": {
                    "x": 8.267416954040527,
                    "y": 1.3080352544784546,
                    "z": 0.10592479258775711
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.339748382568359,
                "transform": {
                    "location": {
                        "x": 3534.413330078125,
                        "y": 4199.05859375,
                        "z": 367.2659606933594
                    },
                    "rotation": {
                        "roll": 0.0013421474723145366,
                        "pitch": 0.09940657019615173,
                        "yaw": 99.67997741699219
                    }
                },
                "velocity": {
                    "x": -0.8916838765144348,
                    "y": 5.264766216278076,
                    "z": 0.007144899107515812
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.200285911560059,
                "transform": {
                    "location": {
                        "x": 3551.436767578125,
                        "y": 4239.71826171875,
                        "z": 367.52838134765625
                    },
                    "rotation": {
                        "roll": 0.00011902635014848784,
                        "pitch": -0.5239301323890686,
                        "yaw": -171.00051879882812
                    }
                },
                "velocity": {
                    "x": -6.123752117156982,
                    "y": -0.9695361852645874,
                    "z": -0.056644540280103683
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.6987481117248535,
                "transform": {
                    "location": {
                        "x": 3530.40087890625,
                        "y": 4223.4736328125,
                        "z": 367.34906005859375
                    },
                    "rotation": {
                        "roll": 0.001222551567479968,
                        "pitch": 0.07992687076330185,
                        "yaw": 99.25535583496094
                    }
                },
                "velocity": {
                    "x": -0.7558218240737915,
                    "y": 4.637550354003906,
                    "z": 0.009760255925357342
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.990087032318115,
                "transform": {
                    "location": {
                        "x": 3504.708740234375,
                        "y": 4235.4658203125,
                        "z": 367.1199035644531
                    },
                    "rotation": {
                        "roll": 0.0015471269143745303,
                        "pitch": 0.5148254632949829,
                        "yaw": 8.987198829650879
                    }
                },
                "velocity": {
                    "x": 6.903968811035156,
                    "y": 1.0918556451797485,
                    "z": 0.06619539111852646
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.129071235656738,
                "transform": {
                    "location": {
                        "x": 3521.0673828125,
                        "y": 4238.052734375,
                        "z": 367.2727966308594
                    },
                    "rotation": {
                        "roll": 0.0019520079949870706,
                        "pitch": 0.5018139481544495,
                        "yaw": 8.991003036499023
                    }
                },
                "velocity": {
                    "x": 4.078225135803223,
                    "y": 0.6449964046478271,
                    "z": 0.035944614559412
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.4586188793182373,
                "transform": {
                    "location": {
                        "x": 3522.58251953125,
                        "y": 4291.52099609375,
                        "z": 367.53753662109375
                    },
                    "rotation": {
                        "roll": -3.052284228033386e-05,
                        "pitch": -0.30639544129371643,
                        "yaw": -80.76888275146484
                    }
                },
                "velocity": {
                    "x": 0.5548478364944458,
                    "y": -3.4137790203094482,
                    "z": -0.017339181154966354
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3514.02685546875,
                        "y": 4324.83154296875,
                        "z": 367.7000732421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26058536767959595,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.256124019622803,
                "transform": {
                    "location": {
                        "x": 3525.478271484375,
                        "y": 4273.70263671875,
                        "z": 367.45660400390625
                    },
                    "rotation": {
                        "roll": 0.0013587779831141233,
                        "pitch": -0.22677592933177948,
                        "yaw": -80.74760437011719
                    }
                },
                "velocity": {
                    "x": 0.6827930212020874,
                    "y": -4.200962066650391,
                    "z": -0.01738988794386387
                },
                "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": 0.21445836126804352,
        "expert_target_speed": 10.0,
        "target_point": [
            12.703883038220551,
            6.93726982340963
        ],
        "target_point_next": [
            12.0084980866877,
            57.93255876239677
        ]
    },
    "195": {
        "acceleration": [
            0.3251427412033081,
            -2.1884727478027344,
            -0.0032371561974287033
        ],
        "angular_velocity": [
            -0.18122367560863495,
            -0.03663035109639168,
            0.019579436630010605
        ],
        "forward_vector": [
            0.1427232325077057,
            -0.9897626638412476,
            0.0001596212387084961
        ],
        "right_vector": [
            0.9897626638412476,
            0.1427232325077057,
            -4.308665302232839e-05
        ],
        "location": [
            3528.76953125,
            4251.69970703125,
            367.3778076171875
        ],
        "rotation": [
            0.0024686832912266254,
            0.009145623072981834,
            -81.79454040527344
        ],
        "velocity": [
            0.3313259482383728,
            -2.295557737350464,
            -0.006040315609425306
        ],
        "speed": 2.3193452113658366,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.45763397216797,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3549.95751953125,
                4239.48388671875,
                367.5146789550781
            ],
            "velocity": [
                -5.715248107910156,
                -0.9045159220695496,
                -0.05302406847476959
            ],
            "speed_kmh": 20.831847713525292,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.891974449157715,
                "transform": {
                    "location": {
                        "x": 3573.455322265625,
                        "y": 4243.26318359375,
                        "z": 367.7350769042969
                    },
                    "rotation": {
                        "roll": -0.005981446243822575,
                        "pitch": -0.44680362939834595,
                        "yaw": -170.58543395996094
                    }
                },
                "velocity": {
                    "x": -6.795984745025635,
                    "y": -1.1442660093307495,
                    "z": -0.06751975417137146
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.849441528320312,
                "transform": {
                    "location": {
                        "x": 3476.82421875,
                        "y": 4231.0556640625,
                        "z": 366.84808349609375
                    },
                    "rotation": {
                        "roll": -0.0004577584913931787,
                        "pitch": 0.8947888612747192,
                        "yaw": 9.000749588012695
                    }
                },
                "velocity": {
                    "x": 9.727861404418945,
                    "y": 1.5379284620285034,
                    "z": 0.12241607159376144
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.217764854431152,
                "transform": {
                    "location": {
                        "x": 3534.17626953125,
                        "y": 4200.45556640625,
                        "z": 367.2677917480469
                    },
                    "rotation": {
                        "roll": 0.001294049434363842,
                        "pitch": 0.10539664328098297,
                        "yaw": 99.59549713134766
                    }
                },
                "velocity": {
                    "x": -1.0358777046203613,
                    "y": 6.130865573883057,
                    "z": 0.0067740436643362045
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.786624431610107,
                "transform": {
                    "location": {
                        "x": 3549.95751953125,
                        "y": 4239.48388671875,
                        "z": 367.5146789550781
                    },
                    "rotation": {
                        "roll": 0.0009713456965982914,
                        "pitch": -0.529448926448822,
                        "yaw": -171.00521850585938
                    }
                },
                "velocity": {
                    "x": -5.715248107910156,
                    "y": -0.9045159220695496,
                    "z": -0.05302406847476959
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.1751909255981445,
                "transform": {
                    "location": {
                        "x": 3530.24365234375,
                        "y": 4224.4384765625,
                        "z": 367.3520202636719
                    },
                    "rotation": {
                        "roll": 0.0002578988205641508,
                        "pitch": -0.011078566312789917,
                        "yaw": 99.2524185180664
                    }
                },
                "velocity": {
                    "x": -0.5107340216636658,
                    "y": 3.1338374614715576,
                    "z": 0.007145080249756575
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.371920108795166,
                "transform": {
                    "location": {
                        "x": 3506.190185546875,
                        "y": 4235.7001953125,
                        "z": 367.1341857910156
                    },
                    "rotation": {
                        "roll": 0.0013483118964359164,
                        "pitch": 0.4767608344554901,
                        "yaw": 8.986238479614258
                    }
                },
                "velocity": {
                    "x": 4.318113803863525,
                    "y": 0.6828689575195312,
                    "z": 0.03564929962158203
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.05611515045166,
                "transform": {
                    "location": {
                        "x": 3522.066162109375,
                        "y": 4238.21044921875,
                        "z": 367.28155517578125
                    },
                    "rotation": {
                        "roll": -0.005523675587028265,
                        "pitch": 0.49608343839645386,
                        "yaw": 8.98863697052002
                    }
                },
                "velocity": {
                    "x": 4.006176471710205,
                    "y": 0.6336328983306885,
                    "z": 0.03358398377895355
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.163769721984863,
                "transform": {
                    "location": {
                        "x": 3522.73095703125,
                        "y": 4290.607421875,
                        "z": 367.5324401855469
                    },
                    "rotation": {
                        "roll": -0.00036621681647375226,
                        "pitch": -0.15295524895191193,
                        "yaw": -80.76872253417969
                    }
                },
                "velocity": {
                    "x": 0.667969822883606,
                    "y": -4.109797954559326,
                    "z": -0.01881834864616394
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3513.760498046875,
                        "y": 4326.474609375,
                        "z": 367.7076416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26058536767959595,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.458820343017578,
                "transform": {
                    "location": {
                        "x": 3525.63427734375,
                        "y": 4272.74169921875,
                        "z": 367.4532470703125
                    },
                    "rotation": {
                        "roll": 0.0007284728344529867,
                        "pitch": -0.39349400997161865,
                        "yaw": -80.75414276123047
                    }
                },
                "velocity": {
                    "x": 0.5544366240501404,
                    "y": -3.414065361022949,
                    "z": -0.014018812216818333
                },
                "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": 0.21749527752399445,
        "expert_target_speed": 10.0,
        "target_point": [
            12.181797809332355,
            6.937870646357069
        ],
        "target_point_next": [
            11.485092930803793,
            57.93314156939302
        ]
    },
    "200": {
        "acceleration": [
            0.5690300464630127,
            -3.3200693130493164,
            -0.012451931834220886
        ],
        "angular_velocity": [
            -0.42529717087745667,
            -0.10101352632045746,
            0.44014108180999756
        ],
        "forward_vector": [
            0.1436140090227127,
            -0.9896321892738342,
            0.0017628659261390567
        ],
        "right_vector": [
            0.9896336793899536,
            0.14361447095870972,
            0.00013422296615317464
        ],
        "location": [
            3528.86669921875,
            4251.03564453125,
            367.37554931640625
        ],
        "rotation": [
            -0.007690420839935541,
            0.10100483149290085,
            -81.74295806884766
        ],
        "velocity": [
            0.4511619806289673,
            -3.033801794052124,
            -0.008104066364467144
        ],
        "speed": 3.0671648893332977,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.958852767944336,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3548.57861328125,
                4239.265625,
                367.5019836425781
            ],
            "velocity": [
                -5.394960880279541,
                -0.8538352847099304,
                -0.04960164427757263
            ],
            "speed_kmh": 19.66440410983649,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.393540382385254,
                "transform": {
                    "location": {
                        "x": 3571.529541015625,
                        "y": 4242.94140625,
                        "z": 367.71600341796875
                    },
                    "rotation": {
                        "roll": -0.00021362319239415228,
                        "pitch": -0.4424459636211395,
                        "yaw": -170.5522918701172
                    }
                },
                "velocity": {
                    "x": -8.282257080078125,
                    "y": -1.3598699569702148,
                    "z": -0.08064678311347961
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.913957595825195,
                "transform": {
                    "location": {
                        "x": 3479.340576171875,
                        "y": 4231.4541015625,
                        "z": 366.87982177734375
                    },
                    "rotation": {
                        "roll": 0.002534589497372508,
                        "pitch": 0.8352227807044983,
                        "yaw": 8.999441146850586
                    }
                },
                "velocity": {
                    "x": 10.779280662536621,
                    "y": 1.7040287256240845,
                    "z": 0.13362683355808258
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.252543926239014,
                "transform": {
                    "location": {
                        "x": 3533.896240234375,
                        "y": 4202.1123046875,
                        "z": 367.26995849609375
                    },
                    "rotation": {
                        "roll": 0.0007505352259613574,
                        "pitch": 0.11553264409303665,
                        "yaw": 99.52711486816406
                    }
                },
                "velocity": {
                    "x": -1.205007553100586,
                    "y": 7.151731491088867,
                    "z": 0.00965599063783884
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.462334632873535,
                "transform": {
                    "location": {
                        "x": 3548.57861328125,
                        "y": 4239.265625,
                        "z": 367.5019836425781
                    },
                    "rotation": {
                        "roll": 0.0002222307666670531,
                        "pitch": -0.529995322227478,
                        "yaw": -171.0063934326172
                    }
                },
                "velocity": {
                    "x": -5.394960880279541,
                    "y": -0.8538352847099304,
                    "z": -0.04960164427757263
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5285982489585876,
                "transform": {
                    "location": {
                        "x": 3530.15283203125,
                        "y": 4224.99853515625,
                        "z": 367.3541259765625
                    },
                    "rotation": {
                        "roll": 0.0008357991464436054,
                        "pitch": -0.1075686439871788,
                        "yaw": 99.31791687011719
                    }
                },
                "velocity": {
                    "x": -0.08294612914323807,
                    "y": 0.5220489501953125,
                    "z": 0.0009644317324273288
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.5500905513763428,
                "transform": {
                    "location": {
                        "x": 3506.87060546875,
                        "y": 4235.80810546875,
                        "z": 367.1402893066406
                    },
                    "rotation": {
                        "roll": 2.3139402401284315e-05,
                        "pitch": 0.4776555895805359,
                        "yaw": 8.958795547485352
                    }
                },
                "velocity": {
                    "x": 2.5189008712768555,
                    "y": 0.39692720770835876,
                    "z": 0.02343444712460041
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.981627464294434,
                "transform": {
                    "location": {
                        "x": 3523.177734375,
                        "y": 4238.38623046875,
                        "z": 367.2916259765625
                    },
                    "rotation": {
                        "roll": -0.005523680709302425,
                        "pitch": 0.4112183451652527,
                        "yaw": 8.990520477294922
                    }
                },
                "velocity": {
                    "x": 4.920260906219482,
                    "y": 0.7783970236778259,
                    "z": 0.0417451374232769
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.4305596351623535,
                "transform": {
                    "location": {
                        "x": 3522.924560546875,
                        "y": 4289.41650390625,
                        "z": 367.5260009765625
                    },
                    "rotation": {
                        "roll": 0.000543268455658108,
                        "pitch": 0.1424572467803955,
                        "yaw": -80.76870727539062
                    }
                },
                "velocity": {
                    "x": 0.871272087097168,
                    "y": -5.360162734985352,
                    "z": -0.022807219997048378
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3513.506103515625,
                        "y": 4328.04541015625,
                        "z": 367.71490478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26058536767959595,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.4213931560516357,
                "transform": {
                    "location": {
                        "x": 3525.7666015625,
                        "y": 4271.93017578125,
                        "z": 367.4498291015625
                    },
                    "rotation": {
                        "roll": -0.00012205204257043079,
                        "pitch": -0.3619043827056885,
                        "yaw": -80.76131439208984
                    }
                },
                "velocity": {
                    "x": 0.5494762063026428,
                    "y": -3.3769540786743164,
                    "z": -0.013752222061157227
                },
                "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": 0.23197616636753082,
        "expert_target_speed": 0,
        "target_point": [
            11.5169071071085,
            6.926106203405637
        ],
        "target_point_next": [
            10.866124101926784,
            57.921983837600436
        ]
    },
    "205": {
        "acceleration": [
            0.7934761047363281,
            -2.751493453979492,
            -0.0071273744106292725
        ],
        "angular_velocity": [
            -0.015072554349899292,
            -0.20453983545303345,
            2.749657392501831
        ],
        "forward_vector": [
            0.15095725655555725,
            -0.9885348677635193,
            0.003276342060416937
        ],
        "right_vector": [
            0.9885386824607849,
            0.15096208453178406,
            0.001279907999560237
        ],
        "location": [
            3529.005859375,
            4250.1630859375,
            367.37261962890625
        ],
        "rotation": [
            -0.073333740234375,
            0.1877209097146988,
            -81.31755065917969
        ],
        "velocity": [
            0.6600653529167175,
            -3.873554229736328,
            -0.010363387875258923
        ],
        "speed": 3.929390365034921,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.33922576904297,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3547.2236328125,
                4239.0517578125,
                367.48944091796875
            ],
            "velocity": [
                -5.427004814147949,
                -0.8586159944534302,
                -0.048971399664878845
            ],
            "speed_kmh": 19.781009361558127,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3454.174560546875,
                        "y": 4227.47216796875,
                        "z": 366.5853576660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7346346378326416,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.098652839660645,
                "transform": {
                    "location": {
                        "x": 3569.477783203125,
                        "y": 4242.60498046875,
                        "z": 367.6966857910156
                    },
                    "rotation": {
                        "roll": -0.0008239756571128964,
                        "pitch": -0.5463536381721497,
                        "yaw": -170.6979522705078
                    }
                },
                "velocity": {
                    "x": -7.992530822753906,
                    "y": -1.30430006980896,
                    "z": -0.08014257997274399
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.072602272033691,
                "transform": {
                    "location": {
                        "x": 3482.203125,
                        "y": 4231.9072265625,
                        "z": 366.9149169921875
                    },
                    "rotation": {
                        "roll": 0.000542269553989172,
                        "pitch": 0.8283038139343262,
                        "yaw": 8.993823051452637
                    }
                },
                "velocity": {
                    "x": 11.92336654663086,
                    "y": 1.8869324922561646,
                    "z": 0.14333412051200867
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.226821899414062,
                "transform": {
                    "location": {
                        "x": 3533.5810546875,
                        "y": 4203.99365234375,
                        "z": 367.27276611328125
                    },
                    "rotation": {
                        "roll": 0.0026721630711108446,
                        "pitch": 0.11164626479148865,
                        "yaw": 99.45000457763672
                    }
                },
                "velocity": {
                    "x": -1.347236156463623,
                    "y": 8.115751266479492,
                    "z": 0.011860494501888752
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.494724750518799,
                "transform": {
                    "location": {
                        "x": 3547.2236328125,
                        "y": 4239.0517578125,
                        "z": 367.48944091796875
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": -0.5244697332382202,
                        "yaw": -171.00807189941406
                    }
                },
                "velocity": {
                    "x": -5.427004814147949,
                    "y": -0.8586159944534302,
                    "z": -0.048971399664878845
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011870049638673663,
                "transform": {
                    "location": {
                        "x": 3530.15185546875,
                        "y": 4225.00390625,
                        "z": 367.353271484375
                    },
                    "rotation": {
                        "roll": 0.0008693908457644284,
                        "pitch": -0.010040377266705036,
                        "yaw": 99.32054138183594
                    }
                },
                "velocity": {
                    "x": 0.0004884377121925354,
                    "y": -0.0009220445062965155,
                    "z": 0.0005659004091285169
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2338833808898926,
                "transform": {
                    "location": {
                        "x": 3507.58544921875,
                        "y": 4235.9208984375,
                        "z": 367.1466064453125
                    },
                    "rotation": {
                        "roll": 0.0001374702696921304,
                        "pitch": 0.5374948978424072,
                        "yaw": 8.932723999023438
                    }
                },
                "velocity": {
                    "x": 3.1942169666290283,
                    "y": 0.5040866136550903,
                    "z": 0.029597261920571327
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.51188850402832,
                "transform": {
                    "location": {
                        "x": 3524.480224609375,
                        "y": 4238.5927734375,
                        "z": 367.3029479980469
                    },
                    "rotation": {
                        "roll": -0.010711666196584702,
                        "pitch": 0.428088903427124,
                        "yaw": 8.995407104492188
                    }
                },
                "velocity": {
                    "x": 5.443815231323242,
                    "y": 0.8623907566070557,
                    "z": 0.045549552887678146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.661879062652588,
                "transform": {
                    "location": {
                        "x": 3523.144287109375,
                        "y": 4288.064453125,
                        "z": 367.5202941894531
                    },
                    "rotation": {
                        "roll": -0.0005493167554959655,
                        "pitch": -0.042511094361543655,
                        "yaw": -80.75862121582031
                    }
                },
                "velocity": {
                    "x": 0.908553957939148,
                    "y": -5.588443279266357,
                    "z": -0.026550859212875366
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4310,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3513.2626953125,
                        "y": 4329.54736328125,
                        "z": 367.7218322753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26058536767959595,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.272591590881348,
                "transform": {
                    "location": {
                        "x": 3525.924072265625,
                        "y": 4270.96044921875,
                        "z": 367.4447937011719
                    },
                    "rotation": {
                        "roll": 0.000662736885715276,
                        "pitch": -0.03307860344648361,
                        "yaw": -80.76749420166016
                    }
                },
                "velocity": {
                    "x": 0.685338020324707,
                    "y": -4.217238426208496,
                    "z": -0.015847167000174522
                },
                "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": 0.20921596884727478,
        "expert_target_speed": 0,
        "target_point": [
            10.68444442666401,
            6.834564645101531
        ],
        "target_point_next": [
            10.412286595444781,
            57.833868408158025
        ]
    },
    "210": {
        "acceleration": [
            -0.17854094505310059,
            2.4162912368774414,
            0.00589447095990181
        ],
        "angular_velocity": [
            1.4092421531677246,
            0.3005925416946411,
            3.355785369873047
        ],
        "forward_vector": [
            0.16471481323242188,
            -0.9863411784172058,
            -0.00027275082538835704
        ],
        "right_vector": [
            0.986339807510376,
            0.16471412777900696,
            0.0017283904599025846
        ],
        "location": [
            3529.1796875,
            4249.1845703125,
            367.3705749511719
        ],
        "rotation": [
            -0.0990295335650444,
            -0.01562747173011303,
            -80.51933288574219
        ],
        "velocity": [
            0.7133864164352417,
            -3.755826950073242,
            -0.009792175143957138
        ],
        "speed": 3.8229774074732363,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.663009643554688,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3545.9033203125,
                4238.84326171875,
                367.4774169921875
            ],
            "velocity": [
                -5.113399028778076,
                -0.8083258867263794,
                -0.047015704214572906
            ],
            "speed_kmh": 18.637590051469086,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4324,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 3535.93017578125,
                        "y": 4190.04638671875,
                        "z": 367.6075439453125
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.072987399995327,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3457.138916015625,
                        "y": 4227.94091796875,
                        "z": 366.5772705078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7346346378326416,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.876808166503906,
                "transform": {
                    "location": {
                        "x": 3567.529296875,
                        "y": 4242.28759765625,
                        "z": 367.6775817871094
                    },
                    "rotation": {
                        "roll": -0.001678464119322598,
                        "pitch": -0.5660450458526611,
                        "yaw": -170.74319458007812
                    }
                },
                "velocity": {
                    "x": -7.774087905883789,
                    "y": -1.265635371208191,
                    "z": -0.07633993029594421
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.495389938354492,
                "transform": {
                    "location": {
                        "x": 3485.151123046875,
                        "y": 4232.373046875,
                        "z": 366.95123291015625
                    },
                    "rotation": {
                        "roll": 0.0007606577128171921,
                        "pitch": 0.6493460536003113,
                        "yaw": 8.9753999710083
                    }
                },
                "velocity": {
                    "x": 11.35363483428955,
                    "y": 1.7947624921798706,
                    "z": 0.13334868848323822
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.02907943725586,
                "transform": {
                    "location": {
                        "x": 3533.240478515625,
                        "y": 4206.04931640625,
                        "z": 367.2760925292969
                    },
                    "rotation": {
                        "roll": 0.0019121788209304214,
                        "pitch": 0.09739166498184204,
                        "yaw": 99.38044738769531
                    }
                },
                "velocity": {
                    "x": -1.3089475631713867,
                    "y": 7.921651840209961,
                    "z": 0.014083556830883026
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.177108287811279,
                "transform": {
                    "location": {
                        "x": 3545.9033203125,
                        "y": 4238.84326171875,
                        "z": 367.4774169921875
                    },
                    "rotation": {
                        "roll": 0.000862034154124558,
                        "pitch": -0.5258494019508362,
                        "yaw": -171.01109313964844
                    }
                },
                "velocity": {
                    "x": -5.113399028778076,
                    "y": -0.8083258867263794,
                    "z": -0.047015704214572906
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00020253652473911643,
                "transform": {
                    "location": {
                        "x": 3530.15185546875,
                        "y": 4225.00439453125,
                        "z": 367.3524475097656
                    },
                    "rotation": {
                        "roll": 0.0009387884638272226,
                        "pitch": 0.08534321188926697,
                        "yaw": 99.32052612304688
                    }
                },
                "velocity": {
                    "x": 0.00010169205779675394,
                    "y": -0.0001652776263654232,
                    "z": -5.7992019719677046e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.969205379486084,
                "transform": {
                    "location": {
                        "x": 3508.48046875,
                        "y": 4236.0625,
                        "z": 367.1546936035156
                    },
                    "rotation": {
                        "roll": 0.0003542382037267089,
                        "pitch": 0.5370509028434753,
                        "yaw": 8.952467918395996
                    }
                },
                "velocity": {
                    "x": 3.9203624725341797,
                    "y": 0.6198084354400635,
                    "z": 0.034450121223926544
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.8147358894348145,
                "transform": {
                    "location": {
                        "x": 3525.904296875,
                        "y": 4238.81787109375,
                        "z": 367.3147888183594
                    },
                    "rotation": {
                        "roll": -0.0019531259313225746,
                        "pitch": 0.4314083755016327,
                        "yaw": 8.9583101272583
                    }
                },
                "velocity": {
                    "x": 5.743016242980957,
                    "y": 0.909223735332489,
                    "z": 0.047252919524908066
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.476222515106201,
                "transform": {
                    "location": {
                        "x": 3523.41650390625,
                        "y": 4286.39013671875,
                        "z": 367.5110778808594
                    },
                    "rotation": {
                        "roll": 0.000993819092400372,
                        "pitch": 0.29711320996284485,
                        "yaw": -80.76518249511719
                    }
                },
                "velocity": {
                    "x": 1.1993741989135742,
                    "y": -7.379308700561523,
                    "z": -0.03480054438114166
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.653695583343506,
                "transform": {
                    "location": {
                        "x": 3526.083251953125,
                        "y": 4269.9814453125,
                        "z": 367.44183349609375
                    },
                    "rotation": {
                        "roll": -0.0002746515383478254,
                        "pitch": -0.2790473699569702,
                        "yaw": -80.77073669433594
                    }
                },
                "velocity": {
                    "x": 0.5860933065414429,
                    "y": -3.6063549518585205,
                    "z": -0.013770418241620064
                },
                "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": 0.15698213875293732,
        "expert_target_speed": 0,
        "target_point": [
            9.784838159126219,
            6.674777213961414
        ],
        "target_point_next": [
            10.223182730492978,
            57.67292333946637
        ]
    },
    "215": {
        "acceleration": [
            -0.18629908561706543,
            2.87930965423584,
            5.971640348434448e-05
        ],
        "angular_velocity": [
            0.795566976070404,
            0.10188990831375122,
            3.641136884689331
        ],
        "forward_vector": [
            0.17918691039085388,
            -0.9837992787361145,
            -0.005565495230257511
        ],
        "right_vector": [
            0.9838147759437561,
            0.17918021976947784,
            0.0016820254968479276
        ],
        "location": [
            3529.34521484375,
            4248.34228515625,
            367.3694152832031
        ],
        "rotation": [
            -0.0963745042681694,
            -0.3188810348510742,
            -79.67743682861328
        ],
        "velocity": [
            0.6457211971282959,
            -3.020571231842041,
            -0.009275063872337341
        ],
        "speed": 3.088819585384123,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.116127014160156,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3544.646484375,
                4238.64404296875,
                367.4658508300781
            ],
            "velocity": [
                -4.995307922363281,
                -0.789240300655365,
                -0.045089296996593475
            ],
            "speed_kmh": 18.2069032948482,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4324,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6016014814376831,
                "transform": {
                    "location": {
                        "x": 3535.93017578125,
                        "y": 4190.04638671875,
                        "z": 367.219482421875
                    },
                    "rotation": {
                        "roll": -0.00033569338847883046,
                        "pitch": 0.07362260669469833,
                        "yaw": 99.22928619384766
                    }
                },
                "velocity": {
                    "x": -0.00024432656937278807,
                    "y": 0.0007423234055750072,
                    "z": -0.6016010046005249
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3460.15673828125,
                        "y": 4228.41845703125,
                        "z": 366.60443115234375
                    },
                    "rotation": {
                        "roll": -6.670658692087272e-09,
                        "pitch": 0.7371686100959778,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.179510116577148,
                "transform": {
                    "location": {
                        "x": 3565.534912109375,
                        "y": 4241.96484375,
                        "z": 367.6578674316406
                    },
                    "rotation": {
                        "roll": 0.0001607134472578764,
                        "pitch": -0.5440040230751038,
                        "yaw": -170.8262939453125
                    }
                },
                "velocity": {
                    "x": -8.0757417678833,
                    "y": -1.2963345050811768,
                    "z": -0.07939310371875763
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.781272888183594,
                "transform": {
                    "location": {
                        "x": 3487.812744140625,
                        "y": 4232.7939453125,
                        "z": 366.9831237792969
                    },
                    "rotation": {
                        "roll": -0.0005187949864193797,
                        "pitch": 0.5129539966583252,
                        "yaw": 8.980446815490723
                    }
                },
                "velocity": {
                    "x": 9.660667419433594,
                    "y": 1.52739679813385,
                    "z": 0.10895369946956635
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.337855339050293,
                "transform": {
                    "location": {
                        "x": 3532.9306640625,
                        "y": 4207.927734375,
                        "z": 367.2794189453125
                    },
                    "rotation": {
                        "roll": 0.0012319862144067883,
                        "pitch": 0.07181260734796524,
                        "yaw": 99.33193969726562
                    }
                },
                "velocity": {
                    "x": -1.1888151168823242,
                    "y": 7.240902423858643,
                    "z": 0.01329802442342043
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.057473182678223,
                "transform": {
                    "location": {
                        "x": 3544.646484375,
                        "y": 4238.64404296875,
                        "z": 367.4658508300781
                    },
                    "rotation": {
                        "roll": 0.00010092950105899945,
                        "pitch": -0.5176395177841187,
                        "yaw": -171.01368713378906
                    }
                },
                "velocity": {
                    "x": -4.995307922363281,
                    "y": -0.789240300655365,
                    "z": -0.045089296996593475
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006598001345992088,
                "transform": {
                    "location": {
                        "x": 3530.15185546875,
                        "y": 4225.0048828125,
                        "z": 367.3522033691406
                    },
                    "rotation": {
                        "roll": 0.000559296109713614,
                        "pitch": 0.11197411268949509,
                        "yaw": 99.32054901123047
                    }
                },
                "velocity": {
                    "x": 1.7642036254983395e-05,
                    "y": -7.081696821842343e-05,
                    "z": 0.0006557514425367117
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.694730758666992,
                "transform": {
                    "location": {
                        "x": 3509.552490234375,
                        "y": 4236.23193359375,
                        "z": 367.16436767578125
                    },
                    "rotation": {
                        "roll": 0.00020883978868369013,
                        "pitch": 0.5249614715576172,
                        "yaw": 8.967451095581055
                    }
                },
                "velocity": {
                    "x": 4.636928558349609,
                    "y": 0.7332401871681213,
                    "z": 0.041800566017627716
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.722990036010742,
                "transform": {
                    "location": {
                        "x": 3527.619384765625,
                        "y": 4239.08935546875,
                        "z": 367.3298645019531
                    },
                    "rotation": {
                        "roll": 0.011997118592262268,
                        "pitch": 0.30668914318084717,
                        "yaw": 8.959842681884766
                    }
                },
                "velocity": {
                    "x": 7.627682209014893,
                    "y": 1.207985758781433,
                    "z": 0.061746127903461456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.870358467102051,
                "transform": {
                    "location": {
                        "x": 3523.7333984375,
                        "y": 4284.44091796875,
                        "z": 367.5026550292969
                    },
                    "rotation": {
                        "roll": -0.0009155271109193563,
                        "pitch": 0.11023242026567459,
                        "yaw": -80.74754333496094
                    }
                },
                "velocity": {
                    "x": 1.26344895362854,
                    "y": -7.768198013305664,
                    "z": -0.036592915654182434
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.078141689300537,
                "transform": {
                    "location": {
                        "x": 3526.237060546875,
                        "y": 4269.03466796875,
                        "z": 367.43768310546875
                    },
                    "rotation": {
                        "roll": 0.00022605754202231765,
                        "pitch": -0.16744890809059143,
                        "yaw": -80.7665786743164
                    }
                },
                "velocity": {
                    "x": 0.6542640328407288,
                    "y": -4.025293350219727,
                    "z": -0.013898353092372417
                },
                "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": 0.09654313325881958,
        "expert_target_speed": 0,
        "target_point": [
            9.023541914741907,
            6.518367096589086
        ],
        "target_point_next": [
            10.211160231602722,
            57.504567356414874
        ]
    },
    "220": {
        "acceleration": [
            0.6029129028320312,
            -0.9336423873901367,
            -0.0019111670553684235
        ],
        "angular_velocity": [
            -0.7868483662605286,
            -0.22307179868221283,
            5.928073406219482
        ],
        "forward_vector": [
            0.20041368901729584,
            -0.9796929359436035,
            -0.006009184289723635
        ],
        "right_vector": [
            0.9797103404998779,
            0.20040103793144226,
            0.0026450003497302532
        ],
        "location": [
            3529.505859375,
            4247.654296875,
            367.36749267578125
        ],
        "rotation": [
            -0.1515502631664276,
            -0.3443029820919037,
            -78.43863677978516
        ],
        "velocity": [
            0.7089554667472839,
            -2.698493003845215,
            -0.00950182881206274
        ],
        "speed": 2.7900685198812645,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.734689712524414,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3543.489501953125,
                4238.4619140625,
                367.4552001953125
            ],
            "velocity": [
                -4.003488063812256,
                -0.6329865455627441,
                -0.036063723266124725
            ],
            "speed_kmh": 14.592167916374892,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4324,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.15058642625808716,
                "transform": {
                    "location": {
                        "x": 3535.93017578125,
                        "y": 4190.04638671875,
                        "z": 367.2140197753906
                    },
                    "rotation": {
                        "roll": -0.0001525854750070721,
                        "pitch": 0.07381384819746017,
                        "yaw": 99.22928619384766
                    }
                },
                "velocity": {
                    "x": 1.709888965706341e-05,
                    "y": -0.00019125065591651946,
                    "z": 0.1505863070487976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.424906730651855,
                "transform": {
                    "location": {
                        "x": 3463.157470703125,
                        "y": 4228.89306640625,
                        "z": 366.6380310058594
                    },
                    "rotation": {
                        "roll": 0.0008568107150495052,
                        "pitch": 0.8254966139793396,
                        "yaw": 8.987936973571777
                    }
                },
                "velocity": {
                    "x": 11.283756256103516,
                    "y": 1.7846283912658691,
                    "z": 0.14300717413425446
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.6406474113464355,
                "transform": {
                    "location": {
                        "x": 3563.577392578125,
                        "y": 4241.650390625,
                        "z": 367.6390686035156
                    },
                    "rotation": {
                        "roll": -0.0001831069093896076,
                        "pitch": -0.572909414768219,
                        "yaw": -170.88577270507812
                    }
                },
                "velocity": {
                    "x": -7.543826580047607,
                    "y": -1.2102349996566772,
                    "z": -0.0741729736328125
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.90252161026001,
                "transform": {
                    "location": {
                        "x": 3489.9501953125,
                        "y": 4233.1318359375,
                        "z": 367.0076904296875
                    },
                    "rotation": {
                        "roll": -0.0002136197144864127,
                        "pitch": 0.4373779594898224,
                        "yaw": 8.956982612609863
                    }
                },
                "velocity": {
                    "x": 7.805369853973389,
                    "y": 1.2323036193847656,
                    "z": 0.0864640399813652
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.198746204376221,
                "transform": {
                    "location": {
                        "x": 3532.646728515625,
                        "y": 4209.6572265625,
                        "z": 367.2825012207031
                    },
                    "rotation": {
                        "roll": 0.0003987691889051348,
                        "pitch": 0.06106871739029884,
                        "yaw": 99.27861022949219
                    }
                },
                "velocity": {
                    "x": -1.0008896589279175,
                    "y": 6.117398738861084,
                    "z": 0.010299844667315483
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.053380012512207,
                "transform": {
                    "location": {
                        "x": 3543.489501953125,
                        "y": 4238.4619140625,
                        "z": 367.4552001953125
                    },
                    "rotation": {
                        "roll": 0.0009844494052231312,
                        "pitch": -0.5279189348220825,
                        "yaw": -171.0147247314453
                    }
                },
                "velocity": {
                    "x": -4.003488063812256,
                    "y": -0.6329865455627441,
                    "z": -0.036063723266124725
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005670916871167719,
                "transform": {
                    "location": {
                        "x": 3530.15185546875,
                        "y": 4225.0048828125,
                        "z": 367.3521423339844
                    },
                    "rotation": {
                        "roll": 0.0013954559108242393,
                        "pitch": 0.11827155202627182,
                        "yaw": 99.32051849365234
                    }
                },
                "velocity": {
                    "x": 1.71100164152449e-05,
                    "y": -6.306543582468294e-06,
                    "z": 0.000566798378713429
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.2067461013793945,
                "transform": {
                    "location": {
                        "x": 3510.799072265625,
                        "y": 4236.4287109375,
                        "z": 367.17596435546875
                    },
                    "rotation": {
                        "roll": 6.172092980705202e-05,
                        "pitch": 0.5095525979995728,
                        "yaw": 8.976034164428711
                    }
                },
                "velocity": {
                    "x": 5.142767429351807,
                    "y": 0.8124329447746277,
                    "z": 0.045802269130945206
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.695716857910156,
                "transform": {
                    "location": {
                        "x": 3529.655517578125,
                        "y": 4239.4111328125,
                        "z": 367.3459167480469
                    },
                    "rotation": {
                        "roll": 0.035172175616025925,
                        "pitch": 0.336755633354187,
                        "yaw": 9.000838279724121
                    }
                },
                "velocity": {
                    "x": 8.58869457244873,
                    "y": 1.3584139347076416,
                    "z": 0.0673275962471962
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.769951820373535,
                "transform": {
                    "location": {
                        "x": 3524.02685546875,
                        "y": 4282.63525390625,
                        "z": 367.4962463378906
                    },
                    "rotation": {
                        "roll": 0.0009952075779438019,
                        "pitch": -0.4276449382305145,
                        "yaw": -80.77989196777344
                    }
                },
                "velocity": {
                    "x": 1.0849097967147827,
                    "y": -6.682382583618164,
                    "z": -0.03131678327918053
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.332277297973633,
                "transform": {
                    "location": {
                        "x": 3526.388671875,
                        "y": 4268.10107421875,
                        "z": 367.4349670410156
                    },
                    "rotation": {
                        "roll": 0.0009776835795491934,
                        "pitch": -0.3605315089225769,
                        "yaw": -80.77477264404297
                    }
                },
                "velocity": {
                    "x": 0.5335513353347778,
                    "y": -3.2892556190490723,
                    "z": -0.013849925249814987
                },
                "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": 0.040511827915906906,
        "expert_target_speed": 10.0,
        "target_point": [
            8.456132445355545,
            6.302256823630705
        ],
        "target_point_next": [
            10.745778348578169,
            57.250864025785496
        ]
    },
    "225": {
        "acceleration": [
            2.5606155395507812,
            -5.035181045532227,
            -0.054854005575180054
        ],
        "angular_velocity": [
            -1.2652281522750854,
            -1.4193495512008667,
            11.055691719055176
        ],
        "forward_vector": [
            0.2355666607618332,
            -0.9718580842018127,
            0.0005283355130814016
        ],
        "right_vector": [
            0.9718451499938965,
            0.23556627333164215,
            0.005054656881839037
        ],
        "location": [
            3529.729248046875,
            4246.86474609375,
            367.36358642578125
        ],
        "rotation": [
            -0.2896117568016052,
            0.030271396040916443,
            -76.37496948242188
        ],
        "velocity": [
            1.177628755569458,
            -3.6904962062835693,
            -0.014449290931224823
        ],
        "speed": 3.87383166058329,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.513275146484375,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3542.686767578125,
                4238.3349609375,
                367.44818115234375
            ],
            "velocity": [
                -2.5124588012695312,
                -0.39723044633865356,
                -0.02200823277235031
            ],
            "speed_kmh": 9.157543557515206,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 3577.5498046875,
                        "y": 4243.95068359375,
                        "z": 368.133544921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5571863055229187,
                        "yaw": -171.0115966796875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4324,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4393082857131958,
                "transform": {
                    "location": {
                        "x": 3535.896728515625,
                        "y": 4190.23779296875,
                        "z": 367.24163818359375
                    },
                    "rotation": {
                        "roll": -0.013427729718387127,
                        "pitch": 0.4376102089881897,
                        "yaw": 99.26235961914062
                    }
                },
                "velocity": {
                    "x": -0.24744921922683716,
                    "y": 1.4159488677978516,
                    "z": 0.07393262535333633
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.552233695983887,
                "transform": {
                    "location": {
                        "x": 3465.1669921875,
                        "y": 4229.2109375,
                        "z": 366.6636657714844
                    },
                    "rotation": {
                        "roll": -0.0006408693152479827,
                        "pitch": 1.1639597415924072,
                        "yaw": 8.99106502532959
                    }
                },
                "velocity": {
                    "x": 6.470893859863281,
                    "y": 1.0250613689422607,
                    "z": 0.09245538711547852
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.401821136474609,
                "transform": {
                    "location": {
                        "x": 3561.731689453125,
                        "y": 4241.35498046875,
                        "z": 367.62109375
                    },
                    "rotation": {
                        "roll": 0.00013807142386212945,
                        "pitch": -0.5722947120666504,
                        "yaw": -170.90711975097656
                    }
                },
                "velocity": {
                    "x": -7.309337615966797,
                    "y": -1.1641368865966797,
                    "z": -0.07299516350030899
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.946016788482666,
                "transform": {
                    "location": {
                        "x": 3491.8759765625,
                        "y": 4233.43603515625,
                        "z": 367.0277404785156
                    },
                    "rotation": {
                        "roll": -0.0005798389902338386,
                        "pitch": 0.58279949426651,
                        "yaw": 8.99455738067627
                    }
                },
                "velocity": {
                    "x": 7.847881317138672,
                    "y": 1.2419819831848145,
                    "z": 0.08616144210100174
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0661754608154297,
                "transform": {
                    "location": {
                        "x": 3532.5048828125,
                        "y": 4210.5263671875,
                        "z": 367.28466796875
                    },
                    "rotation": {
                        "roll": 0.0007411842234432697,
                        "pitch": -0.05472347140312195,
                        "yaw": 99.38233184814453
                    }
                },
                "velocity": {
                    "x": -0.17307066917419434,
                    "y": 1.052033543586731,
                    "z": 0.001473493524827063
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.54376220703125,
                "transform": {
                    "location": {
                        "x": 3542.686767578125,
                        "y": 4238.3349609375,
                        "z": 367.44818115234375
                    },
                    "rotation": {
                        "roll": 0.00013690674677491188,
                        "pitch": -0.5430614948272705,
                        "yaw": -171.0200653076172
                    }
                },
                "velocity": {
                    "x": -2.5124588012695312,
                    "y": -0.39723044633865356,
                    "z": -0.02200823277235031
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008187638595700264,
                "transform": {
                    "location": {
                        "x": 3530.15185546875,
                        "y": 4225.0048828125,
                        "z": 367.3521423339844
                    },
                    "rotation": {
                        "roll": 0.0013954559108242393,
                        "pitch": 0.11827155202627182,
                        "yaw": 99.32051849365234
                    }
                },
                "velocity": {
                    "x": 2.9581831313407747e-06,
                    "y": -1.531597263237927e-05,
                    "z": 0.0008186152554117143
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.116185188293457,
                "transform": {
                    "location": {
                        "x": 3512.183349609375,
                        "y": 4236.6474609375,
                        "z": 367.1879577636719
                    },
                    "rotation": {
                        "roll": -0.00015258821076713502,
                        "pitch": 0.5162598490715027,
                        "yaw": 8.977340698242188
                    }
                },
                "velocity": {
                    "x": 6.040769100189209,
                    "y": 0.9560916423797607,
                    "z": 0.0521014966070652
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.575190544128418,
                "transform": {
                    "location": {
                        "x": 3531.91650390625,
                        "y": 4239.76904296875,
                        "z": 367.3645935058594
                    },
                    "rotation": {
                        "roll": -0.005859370809048414,
                        "pitch": 0.3853182792663574,
                        "yaw": 8.980020523071289
                    }
                },
                "velocity": {
                    "x": 9.457497596740723,
                    "y": 1.4947212934494019,
                    "z": 0.07627986371517181
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.127591848373413,
                "transform": {
                    "location": {
                        "x": 3524.217041015625,
                        "y": 4281.4619140625,
                        "z": 367.4947814941406
                    },
                    "rotation": {
                        "roll": 0.017008360475301743,
                        "pitch": -1.52776300907135,
                        "yaw": -80.72704315185547
                    }
                },
                "velocity": {
                    "x": 0.3376721739768982,
                    "y": -2.100592851638794,
                    "z": -0.011605157516896725
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.629939079284668,
                "transform": {
                    "location": {
                        "x": 3526.5224609375,
                        "y": 4267.2763671875,
                        "z": 367.4313659667969
                    },
                    "rotation": {
                        "roll": 0.00022909384279046208,
                        "pitch": -0.26055803894996643,
                        "yaw": -80.7726058959961
                    }
                },
                "velocity": {
                    "x": 0.5819579362869263,
                    "y": -3.5829577445983887,
                    "z": -0.013988446444272995
                },
                "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": 0.00035378217580728233,
        "expert_target_speed": 10.0,
        "target_point": [
            7.857638205486601,
            5.962553234756223
        ],
        "target_point_next": [
            11.980460145858592,
            56.79566639389287
        ]
    },
    "230": {
        "acceleration": [
            4.110205173492432,
            -4.136934280395508,
            0.049276649951934814
        ],
        "angular_velocity": [
            0.11387422680854797,
            -1.8673484325408936,
            22.305835723876953
        ],
        "forward_vector": [
            0.30770716071128845,
            -0.9514709115028381,
            0.004409417975693941
        ],
        "right_vector": [
            0.951378583908081,
            0.30773869156837463,
            0.013249772600829601
        ],
        "location": [
            3530.12548828125,
            4245.7939453125,
            367.3585205078125
        ],
        "rotation": [
            -0.7591856122016907,
            0.25264185667037964,
            -72.0787124633789
        ],
        "velocity": [
            2.0919623374938965,
            -4.772334098815918,
            -0.015887126326560974
        ],
        "speed": 5.210708125793851,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.416064262390137,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3542.43994140625,
                4238.29931640625,
                367.44622802734375
            ],
            "velocity": [
                2.2733807782060467e-05,
                2.5398241632501595e-05,
                0.0002715445007197559
            ],
            "speed_kmh": 0.0009852320187895094,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.40537792444229126,
                "transform": {
                    "location": {
                        "x": 3577.55078125,
                        "y": 4243.95068359375,
                        "z": 367.7486572265625
                    },
                    "rotation": {
                        "roll": -0.0004272442020010203,
                        "pitch": -0.5618581771850586,
                        "yaw": -171.01148986816406
                    }
                },
                "velocity": {
                    "x": 0.003836672520264983,
                    "y": 0.0007111891754902899,
                    "z": -0.405359148979187
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4324,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2363946437835693,
                "transform": {
                    "location": {
                        "x": 3535.818603515625,
                        "y": 4190.68798828125,
                        "z": 367.25250244140625
                    },
                    "rotation": {
                        "roll": -0.014190681278705597,
                        "pitch": 0.4599790573120117,
                        "yaw": 99.45049285888672
                    }
                },
                "velocity": {
                    "x": -0.38689208030700684,
                    "y": 2.2025415897369385,
                    "z": 0.02421085350215435
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.582252502441406,
                "transform": {
                    "location": {
                        "x": 3466.786376953125,
                        "y": 4229.46728515625,
                        "z": 366.68853759765625
                    },
                    "rotation": {
                        "roll": -0.00024414315703324974,
                        "pitch": 0.8024379014968872,
                        "yaw": 8.991715431213379
                    }
                },
                "velocity": {
                    "x": 6.500816345214844,
                    "y": 1.028679609298706,
                    "z": 0.08515771478414536
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.215531349182129,
                "transform": {
                    "location": {
                        "x": 3559.92431640625,
                        "y": 4241.06689453125,
                        "z": 367.6033935546875
                    },
                    "rotation": {
                        "roll": 0.0006190657732076943,
                        "pitch": -0.5634427666664124,
                        "yaw": -170.9459228515625
                    }
                },
                "velocity": {
                    "x": -7.125584602355957,
                    "y": -1.1336195468902588,
                    "z": -0.06956261396408081
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.096936225891113,
                "transform": {
                    "location": {
                        "x": 3493.97265625,
                        "y": 4233.767578125,
                        "z": 367.04931640625
                    },
                    "rotation": {
                        "roll": -0.0007324182661250234,
                        "pitch": 0.6954771280288696,
                        "yaw": 8.977195739746094
                    }
                },
                "velocity": {
                    "x": 8.984804153442383,
                    "y": 1.4207520484924316,
                    "z": 0.0948471650481224
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5609166622161865,
                "transform": {
                    "location": {
                        "x": 3532.49365234375,
                        "y": 4210.5966796875,
                        "z": 367.2839660644531
                    },
                    "rotation": {
                        "roll": -9.155389852821827e-05,
                        "pitch": 0.04084452986717224,
                        "yaw": 99.38845825195312
                    }
                },
                "velocity": {
                    "x": -0.09099546074867249,
                    "y": 0.5534841418266296,
                    "z": 0.0016239070100709796
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00027367554139345884,
                "transform": {
                    "location": {
                        "x": 3542.43994140625,
                        "y": 4238.29931640625,
                        "z": 367.44622802734375
                    },
                    "rotation": {
                        "roll": 0.0023510416503995657,
                        "pitch": -0.569487452507019,
                        "yaw": -171.2778778076172
                    }
                },
                "velocity": {
                    "x": 2.2733807782060467e-05,
                    "y": 2.5398241632501595e-05,
                    "z": 0.0002715445007197559
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00045301514910534024,
                "transform": {
                    "location": {
                        "x": 3530.15185546875,
                        "y": 4225.0048828125,
                        "z": 367.3521423339844
                    },
                    "rotation": {
                        "roll": 0.0008870126912370324,
                        "pitch": 0.12073724716901779,
                        "yaw": 99.32051849365234
                    }
                },
                "velocity": {
                    "x": -1.1997087312920485e-05,
                    "y": -2.506671444280073e-05,
                    "z": 0.0004521619703155011
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.876406669616699,
                "transform": {
                    "location": {
                        "x": 3513.7041015625,
                        "y": 4236.8876953125,
                        "z": 367.2012939453125
                    },
                    "rotation": {
                        "roll": -0.0006713844486512244,
                        "pitch": 0.4937475323677063,
                        "yaw": 8.988471031188965
                    }
                },
                "velocity": {
                    "x": 5.804004192352295,
                    "y": 0.9181779026985168,
                    "z": 0.051345519721508026
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.4191312789917,
                "transform": {
                    "location": {
                        "x": 3534.389892578125,
                        "y": 4240.16015625,
                        "z": 367.38629150390625
                    },
                    "rotation": {
                        "roll": -0.003234866540879011,
                        "pitch": 0.4234238862991333,
                        "yaw": 8.995243072509766
                    }
                },
                "velocity": {
                    "x": 10.290821075439453,
                    "y": 1.6269721984863281,
                    "z": 0.1012636125087738
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6299870610237122,
                "transform": {
                    "location": {
                        "x": 3524.234619140625,
                        "y": 4281.3427734375,
                        "z": 367.493896484375
                    },
                    "rotation": {
                        "roll": 0.01070867944508791,
                        "pitch": -1.4605402946472168,
                        "yaw": -80.56724548339844
                    }
                },
                "velocity": {
                    "x": 0.1013948917388916,
                    "y": -0.6217696666717529,
                    "z": -0.0022859477903693914
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.359360694885254,
                "transform": {
                    "location": {
                        "x": 3526.66845703125,
                        "y": 4266.37939453125,
                        "z": 367.42803955078125
                    },
                    "rotation": {
                        "roll": -0.00012207748659420758,
                        "pitch": -0.2535366117954254,
                        "yaw": -80.77751159667969
                    }
                },
                "velocity": {
                    "x": 0.5385446548461914,
                    "y": -3.3158884048461914,
                    "z": -0.012571258470416069
                },
                "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": -0.04428704455494881,
        "expert_target_speed": 3.4190545925395672,
        "target_point": [
            7.141462632843663,
            5.309634971658167
        ],
        "target_point_next": [
            15.060797212811405,
            55.691052121358624
        ]
    },
    "235": {
        "acceleration": [
            2.4016332626342773,
            1.5160560607910156,
            0.03733281046152115
        ],
        "angular_velocity": [
            1.5537620782852173,
            -0.41630780696868896,
            30.426851272583008
        ],
        "forward_vector": [
            0.4085529148578644,
            -0.9127344489097595,
            -0.0006439684657379985
        ],
        "right_vector": [
            0.9125993251800537,
            0.40848007798194885,
            0.01750458963215351
        ],
        "location": [
            3530.708251953125,
            4244.595703125,
            367.3542175292969
        ],
        "rotation": [
            -1.0029906034469604,
            -0.03689667955040932,
            -65.88603210449219
        ],
        "velocity": [
            2.680856466293335,
            -4.622641563415527,
            -0.018799176439642906
        ],
        "speed": 5.343763319673088,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.314641952514648,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3542.439697265625,
                4238.29931640625,
                367.44586181640625
            ],
            "velocity": [
                1.291111038881354e-05,
                -3.486246714601293e-05,
                -4.097304190509021e-05
            ],
            "speed_kmh": 0.0001991707458618376,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.12785758078098297,
                "transform": {
                    "location": {
                        "x": 3577.55078125,
                        "y": 4243.95068359375,
                        "z": 367.7652893066406
                    },
                    "rotation": {
                        "roll": -0.00015258934581652284,
                        "pitch": -0.5615849494934082,
                        "yaw": -171.0115203857422
                    }
                },
                "velocity": {
                    "x": -0.001245716237463057,
                    "y": -0.00029036254272796214,
                    "z": 0.1278511881828308
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4324,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5740084648132324,
                "transform": {
                    "location": {
                        "x": 3535.693603515625,
                        "y": 4191.40185546875,
                        "z": 367.2557373046875
                    },
                    "rotation": {
                        "roll": -0.01589968241751194,
                        "pitch": 0.5809007287025452,
                        "yaw": 99.6541748046875
                    }
                },
                "velocity": {
                    "x": -0.6210068464279175,
                    "y": 3.51962947845459,
                    "z": 0.009731902740895748
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.457102298736572,
                "transform": {
                    "location": {
                        "x": 3468.3955078125,
                        "y": 4229.7216796875,
                        "z": 366.7099914550781
                    },
                    "rotation": {
                        "roll": -0.00015259161591529846,
                        "pitch": 0.7460410594940186,
                        "yaw": 8.990307807922363
                    }
                },
                "velocity": {
                    "x": 6.377040863037109,
                    "y": 1.0102307796478271,
                    "z": 0.08340524137020111
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.937952041625977,
                "transform": {
                    "location": {
                        "x": 3558.177490234375,
                        "y": 4240.78857421875,
                        "z": 367.586669921875
                    },
                    "rotation": {
                        "roll": 0.0004386773507576436,
                        "pitch": -0.5628348588943481,
                        "yaw": -170.95799255371094
                    }
                },
                "velocity": {
                    "x": -6.851441383361816,
                    "y": -1.090246319770813,
                    "z": -0.06550770252943039
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.903965950012207,
                "transform": {
                    "location": {
                        "x": 3496.25244140625,
                        "y": 4234.1279296875,
                        "z": 367.0742492675781
                    },
                    "rotation": {
                        "roll": -0.0007934565655887127,
                        "pitch": 0.6038091778755188,
                        "yaw": 9.002079963684082
                    }
                },
                "velocity": {
                    "x": 8.79377269744873,
                    "y": 1.393377661705017,
                    "z": 0.0931849256157875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.135966181755066,
                "transform": {
                    "location": {
                        "x": 3532.459716796875,
                        "y": 4210.8037109375,
                        "z": 367.28375244140625
                    },
                    "rotation": {
                        "roll": 0.0006273379549384117,
                        "pitch": 0.10959720611572266,
                        "yaw": 99.37508392333984
                    }
                },
                "velocity": {
                    "x": -0.18283075094223022,
                    "y": 1.1211544275283813,
                    "z": 0.0022184657864272594
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.532520663109608e-05,
                "transform": {
                    "location": {
                        "x": 3542.439697265625,
                        "y": 4238.29931640625,
                        "z": 367.44586181640625
                    },
                    "rotation": {
                        "roll": 0.0018057486740872264,
                        "pitch": -0.5194085240364075,
                        "yaw": -171.2779083251953
                    }
                },
                "velocity": {
                    "x": 1.291111038881354e-05,
                    "y": -3.486246714601293e-05,
                    "z": -4.097304190509021e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00021099775040056556,
                "transform": {
                    "location": {
                        "x": 3530.15185546875,
                        "y": 4225.0048828125,
                        "z": 367.3521423339844
                    },
                    "rotation": {
                        "roll": 0.0006306199356913567,
                        "pitch": 0.12057331949472427,
                        "yaw": 99.32051849365234
                    }
                },
                "velocity": {
                    "x": 8.477661322103813e-05,
                    "y": -1.349160447716713e-05,
                    "z": 0.00019274582155048847
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.285416603088379,
                "transform": {
                    "location": {
                        "x": 3515.0712890625,
                        "y": 4237.10400390625,
                        "z": 367.21331787109375
                    },
                    "rotation": {
                        "roll": 0.0011516195954754949,
                        "pitch": 0.47180211544036865,
                        "yaw": 8.990757942199707
                    }
                },
                "velocity": {
                    "x": 5.220284938812256,
                    "y": 0.825958251953125,
                    "z": 0.04521377384662628
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.241440773010254,
                "transform": {
                    "location": {
                        "x": 3537.068603515625,
                        "y": 4240.58349609375,
                        "z": 367.4110107421875
                    },
                    "rotation": {
                        "roll": 0.0013550713192671537,
                        "pitch": 0.4536338150501251,
                        "yaw": 8.971535682678223
                    }
                },
                "velocity": {
                    "x": 11.103070259094238,
                    "y": 1.7552372217178345,
                    "z": 0.10468827933073044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5280998945236206,
                "transform": {
                    "location": {
                        "x": 3524.28271484375,
                        "y": 4281.0498046875,
                        "z": 367.48876953125
                    },
                    "rotation": {
                        "roll": 0.003723196918144822,
                        "pitch": -0.39947041869163513,
                        "yaw": -80.647216796875
                    }
                },
                "velocity": {
                    "x": 0.2458893358707428,
                    "y": -1.5081753730773926,
                    "z": -0.005902156699448824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5044703483581543,
                "transform": {
                    "location": {
                        "x": 3526.7998046875,
                        "y": 4265.56884765625,
                        "z": 367.4249572753906
                    },
                    "rotation": {
                        "roll": 0.0005788368289358914,
                        "pitch": -0.23810037970542908,
                        "yaw": -80.77239227294922
                    }
                },
                "velocity": {
                    "x": 0.5617294311523438,
                    "y": -3.459131956100464,
                    "z": -0.013305740430951118
                },
                "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": 0.020992636680603027,
        "expert_target_speed": 4.37007594141009,
        "target_point": [
            6.340788917866298,
            4.465918441405804
        ],
        "target_point_next": [
            19.648702967244688,
            53.699062540233776
        ]
    },
    "240": {
        "acceleration": [
            6.326389312744141,
            0.0814056396484375,
            -0.0900348648428917
        ],
        "angular_velocity": [
            -0.10523095726966858,
            -2.9716053009033203,
            38.8629264831543
        ],
        "forward_vector": [
            0.5443499684333801,
            -0.8388065099716187,
            0.009309872053563595
        ],
        "right_vector": [
            0.8382897973060608,
            0.544356107711792,
            0.03076716884970665
        ],
        "location": [
            3531.60107421875,
            4243.2978515625,
            367.355224609375
        ],
        "rotation": [
            -1.76318359375,
            0.5334240794181824,
            -57.018131256103516
        ],
        "velocity": [
            4.434009075164795,
            -5.278174877166748,
            0.01749877817928791
        ],
        "speed": 6.8934437339110834,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.936050415039062,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3542.439697265625,
                4238.29931640625,
                367.4457702636719
            ],
            "velocity": [
                -1.573242298036348e-05,
                -1.8972716588905314e-06,
                3.996345549239777e-05
            ],
            "speed_kmh": 0.00015476594475289867,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6217765808105469,
                "transform": {
                    "location": {
                        "x": 3577.320556640625,
                        "y": 4243.91064453125,
                        "z": 367.7803039550781
                    },
                    "rotation": {
                        "roll": -0.007049561012536287,
                        "pitch": -0.381377249956131,
                        "yaw": -170.8958282470703
                    }
                },
                "velocity": {
                    "x": -1.5985184907913208,
                    "y": -0.2733742594718933,
                    "z": 0.012821664102375507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4324,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.907881736755371,
                "transform": {
                    "location": {
                        "x": 3535.51025390625,
                        "y": 4192.45654296875,
                        "z": 367.2574462890625
                    },
                    "rotation": {
                        "roll": 0.01216739509254694,
                        "pitch": 0.6575354337692261,
                        "yaw": 99.75840759277344
                    }
                },
                "velocity": {
                    "x": -0.8268482089042664,
                    "y": 4.8377227783203125,
                    "z": 0.007799072191119194
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.62835693359375,
                "transform": {
                    "location": {
                        "x": 3469.85546875,
                        "y": 4229.95263671875,
                        "z": 366.7286376953125
                    },
                    "rotation": {
                        "roll": -6.1030859797028825e-05,
                        "pitch": 0.8073009848594666,
                        "yaw": 8.991308212280273
                    }
                },
                "velocity": {
                    "x": 5.558727264404297,
                    "y": 0.8796178102493286,
                    "z": 0.07230466604232788
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.622735977172852,
                "transform": {
                    "location": {
                        "x": 3556.505859375,
                        "y": 4240.52294921875,
                        "z": 367.5707092285156
                    },
                    "rotation": {
                        "roll": 4.936110144626582e-06,
                        "pitch": -0.5550826191902161,
                        "yaw": -170.97247314453125
                    }
                },
                "velocity": {
                    "x": -6.540748119354248,
                    "y": -1.036932110786438,
                    "z": -0.06339355558156967
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.4212064743042,
                "transform": {
                    "location": {
                        "x": 3498.358154296875,
                        "y": 4234.4609375,
                        "z": 367.0964660644531
                    },
                    "rotation": {
                        "roll": 0.0008458414813503623,
                        "pitch": 0.5477879643440247,
                        "yaw": 8.97593879699707
                    }
                },
                "velocity": {
                    "x": 8.317344665527344,
                    "y": 1.315804362297058,
                    "z": 0.08465272933244705
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6588391065597534,
                "transform": {
                    "location": {
                        "x": 3532.4013671875,
                        "y": 4211.15478515625,
                        "z": 367.2843017578125
                    },
                    "rotation": {
                        "roll": 0.0008224623743444681,
                        "pitch": 0.11385241895914078,
                        "yaw": 99.2947769165039
                    }
                },
                "velocity": {
                    "x": -0.2673536241054535,
                    "y": 1.6371515989303589,
                    "z": 0.001960706664249301
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.2990541260223836e-05,
                "transform": {
                    "location": {
                        "x": 3542.439697265625,
                        "y": 4238.29931640625,
                        "z": 367.4457702636719
                    },
                    "rotation": {
                        "roll": 0.00194689875934273,
                        "pitch": -0.5135141015052795,
                        "yaw": -171.27792358398438
                    }
                },
                "velocity": {
                    "x": -1.573242298036348e-05,
                    "y": -1.8972716588905314e-06,
                    "z": 3.996345549239777e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006701881648041308,
                "transform": {
                    "location": {
                        "x": 3530.15185546875,
                        "y": 4225.0048828125,
                        "z": 367.3521423339844
                    },
                    "rotation": {
                        "roll": 0.0006306199356913567,
                        "pitch": 0.12057331949472427,
                        "yaw": 99.32051849365234
                    }
                },
                "velocity": {
                    "x": 8.590100151195657e-07,
                    "y": 9.877234106170363e-07,
                    "z": 0.0006701868842355907
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.0131378173828125,
                "transform": {
                    "location": {
                        "x": 3516.330322265625,
                        "y": 4237.30322265625,
                        "z": 367.2240905761719
                    },
                    "rotation": {
                        "roll": 0.0013324592728167772,
                        "pitch": 0.4738716781139374,
                        "yaw": 8.991192817687988
                    }
                },
                "velocity": {
                    "x": 4.951364517211914,
                    "y": 0.7834210991859436,
                    "z": 0.042325571179389954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.042722702026367,
                "transform": {
                    "location": {
                        "x": 3539.94775390625,
                        "y": 4241.03857421875,
                        "z": 367.43756103515625
                    },
                    "rotation": {
                        "roll": 0.0022275717929005623,
                        "pitch": 0.4198380410671234,
                        "yaw": 8.990095138549805
                    }
                },
                "velocity": {
                    "x": 11.893949508666992,
                    "y": 1.8841630220413208,
                    "z": 0.10517049580812454
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5687530040740967,
                "transform": {
                    "location": {
                        "x": 3524.365234375,
                        "y": 4280.54345703125,
                        "z": 367.485107421875
                    },
                    "rotation": {
                        "roll": 0.0024881958961486816,
                        "pitch": -0.002807207638397813,
                        "yaw": -80.67456817626953
                    }
                },
                "velocity": {
                    "x": 0.41332587599754333,
                    "y": -2.53525710105896,
                    "z": -0.011193513870239258
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.751448631286621,
                "transform": {
                    "location": {
                        "x": 3526.966552734375,
                        "y": 4264.54345703125,
                        "z": 367.4197692871094
                    },
                    "rotation": {
                        "roll": 0.00020694718114100397,
                        "pitch": 0.12245162576436996,
                        "yaw": -80.77393341064453
                    }
                },
                "velocity": {
                    "x": 0.7618138790130615,
                    "y": -4.689950466156006,
                    "z": -0.01641460321843624
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2479347139596939,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2941378951072693,
        "expert_target_speed": 6.839925691070666,
        "target_point": [
            26.11715134455921,
            49.98577980823445
        ],
        "target_point_next": [
            26.930336283530707,
            51.812898227908256
        ]
    },
    "245": {
        "acceleration": [
            5.522098541259766,
            4.836435317993164,
            0.3817557990550995
        ],
        "angular_velocity": [
            1.9677112102508545,
            -1.0322060585021973,
            56.04792785644531
        ],
        "forward_vector": [
            0.7067661881446838,
            -0.7073055505752563,
            0.01415646355599165
        ],
        "right_vector": [
            0.7063641548156738,
            0.7066497206687927,
            0.04117906466126442
        ],
        "location": [
            3532.879638671875,
            4242.0234375,
            367.36065673828125
        ],
        "rotation": [
            -2.36029052734375,
            0.8111327290534973,
            -45.021854400634766
        ],
        "velocity": [
            5.942623138427734,
            -4.571597099304199,
            0.04529546573758125
        ],
        "speed": 7.497617608530277,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.260168075561523,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3542.439697265625,
                4238.29931640625,
                367.4457702636719
            ],
            "velocity": [
                -1.6057938410085626e-05,
                -8.966969289758708e-06,
                -6.387364919646643e-06
            ],
            "speed_kmh": 7.009028548063105e-05,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7982230186462402,
                "transform": {
                    "location": {
                        "x": 3576.779052734375,
                        "y": 4243.8212890625,
                        "z": 367.7781677246094
                    },
                    "rotation": {
                        "roll": -0.002227781107649207,
                        "pitch": -0.37320151925086975,
                        "yaw": -170.8760986328125
                    }
                },
                "velocity": {
                    "x": -2.7607104778289795,
                    "y": -0.45606544613838196,
                    "z": -0.023111389949917793
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4324,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.374293804168701,
                "transform": {
                    "location": {
                        "x": 3535.287353515625,
                        "y": 4193.76123046875,
                        "z": 367.2603759765625
                    },
                    "rotation": {
                        "roll": 0.010019870474934578,
                        "pitch": 0.45536184310913086,
                        "yaw": 99.70621490478516
                    }
                },
                "velocity": {
                    "x": -0.9033186435699463,
                    "y": 5.297829627990723,
                    "z": 0.007194480858743191
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.973480224609375,
                "transform": {
                    "location": {
                        "x": 3471.265625,
                        "y": 4230.17529296875,
                        "z": 366.747802734375
                    },
                    "rotation": {
                        "roll": -0.0001220724225277081,
                        "pitch": 0.7138708233833313,
                        "yaw": 9.008050918579102
                    }
                },
                "velocity": {
                    "x": 5.899582386016846,
                    "y": 0.9335346221923828,
                    "z": 0.07686561346054077
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.9366140365600586,
                "transform": {
                    "location": {
                        "x": 3555.06591796875,
                        "y": 4240.29443359375,
                        "z": 367.5580139160156
                    },
                    "rotation": {
                        "roll": -0.00057983334409073,
                        "pitch": -0.6811542510986328,
                        "yaw": -170.9884796142578
                    }
                },
                "velocity": {
                    "x": -3.887793779373169,
                    "y": -0.6169435977935791,
                    "z": -0.037006497383117676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.493404388427734,
                "transform": {
                    "location": {
                        "x": 3500.343017578125,
                        "y": 4234.77490234375,
                        "z": 367.1170654296875
                    },
                    "rotation": {
                        "roll": 0.00019678508397191763,
                        "pitch": 0.48135071992874146,
                        "yaw": 9.003561973571777
                    }
                },
                "velocity": {
                    "x": 7.400788307189941,
                    "y": 1.172129511833191,
                    "z": 0.07455854117870331
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1585865020751953,
                "transform": {
                    "location": {
                        "x": 3532.322998046875,
                        "y": 4211.6357421875,
                        "z": 367.28509521484375
                    },
                    "rotation": {
                        "roll": 0.00017905599088408053,
                        "pitch": 0.11033487319946289,
                        "yaw": 99.28419494628906
                    }
                },
                "velocity": {
                    "x": -0.3481001853942871,
                    "y": 2.1303322315216064,
                    "z": 0.0025075243320316076
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9469523977022618e-05,
                "transform": {
                    "location": {
                        "x": 3542.439697265625,
                        "y": 4238.29931640625,
                        "z": 367.4457702636719
                    },
                    "rotation": {
                        "roll": 0.00194689875934273,
                        "pitch": -0.5135141015052795,
                        "yaw": -171.27792358398438
                    }
                },
                "velocity": {
                    "x": -1.6057938410085626e-05,
                    "y": -8.966969289758708e-06,
                    "z": -6.387364919646643e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000714436057023704,
                "transform": {
                    "location": {
                        "x": 3530.15185546875,
                        "y": 4225.0048828125,
                        "z": 367.3521423339844
                    },
                    "rotation": {
                        "roll": 0.0006306199356913567,
                        "pitch": 0.12057331949472427,
                        "yaw": 99.32051849365234
                    }
                },
                "velocity": {
                    "x": -2.3164134290709626e-06,
                    "y": -6.984285846556304e-06,
                    "z": 0.0007143981638364494
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.072620868682861,
                "transform": {
                    "location": {
                        "x": 3517.576416015625,
                        "y": 4237.5,
                        "z": 367.23455810546875
                    },
                    "rotation": {
                        "roll": 0.0007864966755732894,
                        "pitch": 0.48118680715560913,
                        "yaw": 8.991667747497559
                    }
                },
                "velocity": {
                    "x": 5.010086536407471,
                    "y": 0.7929369211196899,
                    "z": 0.0420113280415535
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.81430721282959,
                "transform": {
                    "location": {
                        "x": 3543.021240234375,
                        "y": 4241.52490234375,
                        "z": 367.4649963378906
                    },
                    "rotation": {
                        "roll": 0.00022058316972106695,
                        "pitch": 0.4254729449748993,
                        "yaw": 8.985882759094238
                    }
                },
                "velocity": {
                    "x": 12.656437873840332,
                    "y": 2.0020880699157715,
                    "z": 0.1126173585653305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9804863929748535,
                "transform": {
                    "location": {
                        "x": 3524.498046875,
                        "y": 4279.7294921875,
                        "z": 367.48052978515625
                    },
                    "rotation": {
                        "roll": 0.0029198131524026394,
                        "pitch": 0.24902185797691345,
                        "yaw": -80.70610046386719
                    }
                },
                "velocity": {
                    "x": 0.6395432353019714,
                    "y": -3.9287333488464355,
                    "z": -0.017604418098926544
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.295687675476074,
                "transform": {
                    "location": {
                        "x": 3527.176513671875,
                        "y": 4263.24951171875,
                        "z": 367.4153747558594
                    },
                    "rotation": {
                        "roll": -0.00018310820451006293,
                        "pitch": 0.12640629708766937,
                        "yaw": -80.77465057373047
                    }
                },
                "velocity": {
                    "x": 0.8493378758430481,
                    "y": -5.227104187011719,
                    "z": -0.017795810475945473
                },
                "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": 0.6107744574546814,
        "expert_target_speed": 7.758917228237933,
        "target_point": [
            34.13101651638272,
            43.46211207538521
        ],
        "target_point_next": [
            35.30620595831357,
            45.08030898554652
        ]
    },
    "250": {
        "acceleration": [
            2.8565120697021484,
            7.186908721923828,
            0.10011032223701477
        ],
        "angular_velocity": [
            1.117937445640564,
            0.37520238757133484,
            56.1771125793457
        ],
        "forward_vector": [
            0.8593675494194031,
            -0.5112725496292114,
            0.009366732090711594
        ],
        "right_vector": [
            0.5102692246437073,
            0.8585882186889648,
            0.04951344057917595
        ],
        "location": [
            3534.466064453125,
            4241.048828125,
            367.3778381347656
        ],
        "rotation": [
            -2.838196039199829,
            0.5366820693016052,
            -30.7501277923584
        ],
        "velocity": [
            6.901153564453125,
            -2.966289520263672,
            0.07393257319927216
        ],
        "speed": 7.5116438971898924,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.434645652770996,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3542.439697265625,
                4238.29931640625,
                367.44573974609375
            ],
            "velocity": [
                -2.2321641154121608e-05,
                9.193718142341822e-06,
                0.00034073396818712354
            ],
            "speed_kmh": 0.0012297170921921625,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.3470916748046875,
                "transform": {
                    "location": {
                        "x": 3575.88671875,
                        "y": 4243.67333984375,
                        "z": 367.7698669433594
                    },
                    "rotation": {
                        "roll": -0.007659911643713713,
                        "pitch": -0.32940635085105896,
                        "yaw": -170.7068328857422
                    }
                },
                "velocity": {
                    "x": -4.287858963012695,
                    "y": -0.7139776349067688,
                    "z": -0.04131300374865532
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4324,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.896015644073486,
                "transform": {
                    "location": {
                        "x": 3535.03369140625,
                        "y": 4195.24853515625,
                        "z": 367.26165771484375
                    },
                    "rotation": {
                        "roll": 0.006498369853943586,
                        "pitch": 0.6187604665756226,
                        "yaw": 99.65994262695312
                    }
                },
                "velocity": {
                    "x": -1.157671332359314,
                    "y": 6.798144817352295,
                    "z": 0.007667636498808861
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.622515678405762,
                "transform": {
                    "location": {
                        "x": 3472.850830078125,
                        "y": 4230.42626953125,
                        "z": 366.7685852050781
                    },
                    "rotation": {
                        "roll": -0.00030517211416736245,
                        "pitch": 0.6787431836128235,
                        "yaw": 8.994735717773438
                    }
                },
                "velocity": {
                    "x": 6.540724277496338,
                    "y": 1.0342227220535278,
                    "z": 0.08380044996738434
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4896308481693268,
                "transform": {
                    "location": {
                        "x": 3554.777099609375,
                        "y": 4240.2470703125,
                        "z": 367.5555725097656
                    },
                    "rotation": {
                        "roll": 0.0008830544538795948,
                        "pitch": -0.7665998935699463,
                        "yaw": -171.09689331054688
                    }
                },
                "velocity": {
                    "x": -0.4836854934692383,
                    "y": -0.07590954750776291,
                    "z": -0.004944229032844305
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.723317623138428,
                "transform": {
                    "location": {
                        "x": 3502.013671875,
                        "y": 4235.0390625,
                        "z": 367.13433837890625
                    },
                    "rotation": {
                        "roll": 0.000371757399989292,
                        "pitch": 0.3996480107307434,
                        "yaw": 9.008681297302246
                    }
                },
                "velocity": {
                    "x": 5.652828216552734,
                    "y": 0.893721342086792,
                    "z": 0.05620845779776573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00029823119984939694,
                "transform": {
                    "location": {
                        "x": 3532.272705078125,
                        "y": 4211.9453125,
                        "z": 367.28631591796875
                    },
                    "rotation": {
                        "roll": 3.1799738735571736e-06,
                        "pitch": 0.03298298269510269,
                        "yaw": 99.29606628417969
                    }
                },
                "velocity": {
                    "x": -5.2331321057863533e-05,
                    "y": 5.150996003067121e-05,
                    "z": 0.00028905016370117664
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003415880782995373,
                "transform": {
                    "location": {
                        "x": 3542.439697265625,
                        "y": 4238.29931640625,
                        "z": 367.44573974609375
                    },
                    "rotation": {
                        "roll": 0.0022305818274617195,
                        "pitch": -0.5096482038497925,
                        "yaw": -171.27792358398438
                    }
                },
                "velocity": {
                    "x": -2.2321641154121608e-05,
                    "y": 9.193718142341822e-06,
                    "z": 0.00034073396818712354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001282496377825737,
                "transform": {
                    "location": {
                        "x": 3530.15185546875,
                        "y": 4225.0048828125,
                        "z": 367.3521423339844
                    },
                    "rotation": {
                        "roll": 0.0006306199356913567,
                        "pitch": 0.12057331949472427,
                        "yaw": 99.32051849365234
                    }
                },
                "velocity": {
                    "x": 3.456009835645091e-06,
                    "y": -2.3118740500649437e-05,
                    "z": 0.0012822833377867937
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.523392200469971,
                "transform": {
                    "location": {
                        "x": 3518.726806640625,
                        "y": 4237.681640625,
                        "z": 367.24420166015625
                    },
                    "rotation": {
                        "roll": 0.004053827840834856,
                        "pitch": 0.47217777371406555,
                        "yaw": 9.459997177124023
                    }
                },
                "velocity": {
                    "x": 4.465834617614746,
                    "y": 0.718332827091217,
                    "z": 0.03737081587314606
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.439964294433594,
                "transform": {
                    "location": {
                        "x": 3546.275634765625,
                        "y": 4242.0400390625,
                        "z": 367.4944763183594
                    },
                    "rotation": {
                        "roll": 0.0006486346828751266,
                        "pitch": 0.4523839056491852,
                        "yaw": 9.00257682800293
                    }
                },
                "velocity": {
                    "x": 13.273984909057617,
                    "y": 2.102170467376709,
                    "z": 0.12180189043283463
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.293047904968262,
                "transform": {
                    "location": {
                        "x": 3524.685546875,
                        "y": 4278.57763671875,
                        "z": 367.4754333496094
                    },
                    "rotation": {
                        "roll": 0.0015264113899320364,
                        "pitch": 0.32338210940361023,
                        "yaw": -80.7319107055664
                    }
                },
                "velocity": {
                    "x": 0.8508070111274719,
                    "y": -5.22418212890625,
                    "z": -0.02009042724967003
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.2142839431762695,
                "transform": {
                    "location": {
                        "x": 3527.38525390625,
                        "y": 4261.96484375,
                        "z": 367.41168212890625
                    },
                    "rotation": {
                        "roll": 0.00045760368811897933,
                        "pitch": -0.1221989095211029,
                        "yaw": -80.77729797363281
                    }
                },
                "velocity": {
                    "x": 0.8357207179069519,
                    "y": -5.146844863891602,
                    "z": -0.017775563523173332
                },
                "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": 0.9213188886642456,
        "expert_target_speed": 7.993359819325356,
        "target_point": [
            41.93027630220717,
            33.73319843121306
        ],
        "target_point_next": [
            43.46811600654127,
            35.01174467920527
        ]
    },
    "255": {
        "acceleration": [
            1.2187862396240234,
            7.507083415985107,
            -0.007139295339584351
        ],
        "angular_velocity": [
            0.32313159108161926,
            -0.13211102783679962,
            60.72425079345703
        ],
        "forward_vector": [
            0.9607899188995361,
            -0.27716901898384094,
            0.007753293961286545
        ],
        "right_vector": [
            0.276408314704895,
            0.9596161246299744,
            0.0523003488779068
        ],
        "location": [
            3536.228759765625,
            4240.501953125,
            367.39471435546875
        ],
        "rotation": [
            -2.998047351837158,
            0.4442354738712311,
            -16.091812133789062
        ],
        "velocity": [
            7.332836151123047,
            -1.1066733598709106,
            0.0642450675368309
        ],
        "speed": 7.415875669444913,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.5901408195495605,
        "front_vehicle_info": {
            "id": 4319,
            "type": "vehicle.ford.mustang",
            "location": [
                3542.439697265625,
                4238.29931640625,
                367.44573974609375
            ],
            "velocity": [
                -1.512281596660614e-05,
                -1.8999091480509378e-05,
                -0.00011461830581538379
            ],
            "speed_kmh": 0.00042178453390223,
            "color": "160,160,160"
        },
        "other_vehicles": [
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.337897777557373,
                "transform": {
                    "location": {
                        "x": 3574.6513671875,
                        "y": 4243.466796875,
                        "z": 367.75799560546875
                    },
                    "rotation": {
                        "roll": -0.0079345703125,
                        "pitch": -0.3806191086769104,
                        "yaw": -170.56822204589844
                    }
                },
                "velocity": {
                    "x": -5.264285564422607,
                    "y": -0.8819196820259094,
                    "z": -0.05164350941777229
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4324,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.998656749725342,
                "transform": {
                    "location": {
                        "x": 3534.716552734375,
                        "y": 4197.111328125,
                        "z": 367.2640686035156
                    },
                    "rotation": {
                        "roll": 0.002963501727208495,
                        "pitch": 0.6433559656143188,
                        "yaw": 99.67935943603516
                    }
                },
                "velocity": {
                    "x": -1.3426768779754639,
                    "y": 7.8851518630981445,
                    "z": 0.010347308591008186
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.478377342224121,
                "transform": {
                    "location": {
                        "x": 3474.7744140625,
                        "y": 4230.73095703125,
                        "z": 366.79425048828125
                    },
                    "rotation": {
                        "roll": 0.00032577384263277054,
                        "pitch": 0.5653620362281799,
                        "yaw": 8.997373580932617
                    }
                },
                "velocity": {
                    "x": 8.373437881469727,
                    "y": 1.325461983680725,
                    "z": 0.1075320616364479
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.319750189781189,
                "transform": {
                    "location": {
                        "x": 3554.50341796875,
                        "y": 4240.20166015625,
                        "z": 367.5517883300781
                    },
                    "rotation": {
                        "roll": 0.0007389545207843184,
                        "pitch": -0.5456501245498657,
                        "yaw": -171.23171997070312
                    }
                },
                "velocity": {
                    "x": -1.3028925657272339,
                    "y": -0.20985418558120728,
                    "z": -0.013142060488462448
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.347236394882202,
                "transform": {
                    "location": {
                        "x": 3502.9111328125,
                        "y": 4235.18359375,
                        "z": 367.1434631347656
                    },
                    "rotation": {
                        "roll": -0.005584714934229851,
                        "pitch": 0.33387330174446106,
                        "yaw": 8.705544471740723
                    }
                },
                "velocity": {
                    "x": 3.3060617446899414,
                    "y": 0.5225276350975037,
                    "z": 0.030189208686351776
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6878475546836853,
                "transform": {
                    "location": {
                        "x": 3532.255859375,
                        "y": 4212.04248046875,
                        "z": 367.2859802246094
                    },
                    "rotation": {
                        "roll": 0.0003449716605246067,
                        "pitch": 0.09258320927619934,
                        "yaw": 99.18730163574219
                    }
                },
                "velocity": {
                    "x": -0.11006578803062439,
                    "y": 0.6789829730987549,
                    "z": 0.001391944824717939
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00011716237349901348,
                "transform": {
                    "location": {
                        "x": 3542.439697265625,
                        "y": 4238.29931640625,
                        "z": 367.44573974609375
                    },
                    "rotation": {
                        "roll": 0.0022305818274617195,
                        "pitch": -0.5096482038497925,
                        "yaw": -171.27792358398438
                    }
                },
                "velocity": {
                    "x": -1.512281596660614e-05,
                    "y": -1.8999091480509378e-05,
                    "z": -0.00011461830581538379
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000495836662594229,
                "transform": {
                    "location": {
                        "x": 3530.15185546875,
                        "y": 4225.0048828125,
                        "z": 367.3521423339844
                    },
                    "rotation": {
                        "roll": 0.0006306199356913567,
                        "pitch": 0.12057331949472427,
                        "yaw": 99.32051849365234
                    }
                },
                "velocity": {
                    "x": 3.198098056600429e-05,
                    "y": -2.1360256141633727e-06,
                    "z": 0.0004947995766997337
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.486081600189209,
                "transform": {
                    "location": {
                        "x": 3519.8525390625,
                        "y": 4237.86279296875,
                        "z": 367.2537841796875
                    },
                    "rotation": {
                        "roll": 0.003714956110343337,
                        "pitch": 0.48032620549201965,
                        "yaw": 9.255257606506348
                    }
                },
                "velocity": {
                    "x": 4.430553913116455,
                    "y": 0.7026574611663818,
                    "z": 0.03730306401848793
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.389988899230957,
                "transform": {
                    "location": {
                        "x": 3549.5966796875,
                        "y": 4242.56591796875,
                        "z": 367.5246887207031
                    },
                    "rotation": {
                        "roll": -0.00012207115651108325,
                        "pitch": 0.5115469694137573,
                        "yaw": 8.991257667541504
                    }
                },
                "velocity": {
                    "x": 13.224729537963867,
                    "y": 2.0936479568481445,
                    "z": 0.12236064672470093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.403970718383789,
                "transform": {
                    "location": {
                        "x": 3524.9013671875,
                        "y": 4277.25,
                        "z": 367.4707336425781
                    },
                    "rotation": {
                        "roll": 0.0007408938836306334,
                        "pitch": 0.032115548849105835,
                        "yaw": -80.74756622314453
                    }
                },
                "velocity": {
                    "x": 0.8686363697052002,
                    "y": -5.333657264709473,
                    "z": -0.021691178902983665
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.145796298980713,
                "transform": {
                    "location": {
                        "x": 3527.619873046875,
                        "y": 4260.52001953125,
                        "z": 367.4058837890625
                    },
                    "rotation": {
                        "roll": 0.00022374905529432,
                        "pitch": 0.09943389147520065,
                        "yaw": -80.77672576904297
                    }
                },
                "velocity": {
                    "x": 0.9849818348884583,
                    "y": -6.066313743591309,
                    "z": -0.02146020345389843
                },
                "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": 0.9438151717185974,
        "expert_target_speed": 8.00015321439219,
        "target_point": [
            47.25665163392655,
            22.061485495809006
        ],
        "target_point_next": [
            49.067979472737356,
            22.90926077548537
        ]
    },
    "260": {
        "acceleration": [
            1.392831802368164,
            5.463458061218262,
            0.0015997886657714844
        ],
        "angular_velocity": [
            -1.944105863571167,
            -0.259981244802475,
            44.89962387084961
        ],
        "forward_vector": [
            0.9987983703613281,
            -0.048286065459251404,
            0.00838293693959713
        ],
        "right_vector": [
            0.047848425805568695,
            0.9977815747261047,
            0.04628674313426018
        ],
        "location": [
            3538.089599609375,
            4240.38818359375,
            367.4117431640625
        ],
        "rotation": [
            -2.653076171875,
            0.4803125262260437,
            -2.767761468887329
        ],
        "velocity": [
            7.67694616317749,
            0.4383377730846405,
            0.06873111426830292
        ],
        "speed": 7.689450071080401,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 15.044534683227539,
        "front_vehicle_info": {
            "id": 4313,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                3552.889404296875,
                4243.0869140625,
                367.555419921875
            ],
            "velocity": [
                13.150575637817383,
                2.0805253982543945,
                0.12271466851234436
            ],
            "speed_kmh": 47.93292653484378,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.1691813468933105,
                "transform": {
                    "location": {
                        "x": 3573.217529296875,
                        "y": 4243.22607421875,
                        "z": 367.74371337890625
                    },
                    "rotation": {
                        "roll": -0.007720946334302425,
                        "pitch": -0.42572566866874695,
                        "yaw": -170.51585388183594
                    }
                },
                "velocity": {
                    "x": -6.083710670471191,
                    "y": -1.0215224027633667,
                    "z": -0.06128941476345062
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4324,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.066138744354248,
                "transform": {
                    "location": {
                        "x": 3534.40185546875,
                        "y": 4198.9833984375,
                        "z": 367.2686767578125
                    },
                    "rotation": {
                        "roll": 0.021374588832259178,
                        "pitch": 0.07914822548627853,
                        "yaw": 99.50996398925781
                    }
                },
                "velocity": {
                    "x": -1.161094069480896,
                    "y": 6.9700846672058105,
                    "z": 0.009789667092263699
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.478109359741211,
                "transform": {
                    "location": {
                        "x": 3477.001220703125,
                        "y": 4231.08349609375,
                        "z": 366.82220458984375
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": 0.6123673915863037,
                        "yaw": 8.993246078491211
                    }
                },
                "velocity": {
                    "x": 9.361308097839355,
                    "y": 1.47866952419281,
                    "z": 0.11835978925228119
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.054810047149658,
                "transform": {
                    "location": {
                        "x": 3554.12060546875,
                        "y": 4240.14013671875,
                        "z": 367.5476379394531
                    },
                    "rotation": {
                        "roll": 0.0013325429754331708,
                        "pitch": -0.4927639663219452,
                        "yaw": -171.30709838867188
                    }
                },
                "velocity": {
                    "x": -2.0280845165252686,
                    "y": -0.329750657081604,
                    "z": -0.019546503201127052
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.411595821380615,
                "transform": {
                    "location": {
                        "x": 3503.888916015625,
                        "y": 4235.3369140625,
                        "z": 367.1506042480469
                    },
                    "rotation": {
                        "roll": -0.004028319381177425,
                        "pitch": 0.588311493396759,
                        "yaw": 8.816551208496094
                    }
                },
                "velocity": {
                    "x": 4.3574090003967285,
                    "y": 0.6880751848220825,
                    "z": 0.04145635664463043
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4320,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1980810165405273,
                "transform": {
                    "location": {
                        "x": 3532.217529296875,
                        "y": 4212.28125,
                        "z": 367.2862854003906
                    },
                    "rotation": {
                        "roll": 0.00034450500970706344,
                        "pitch": 0.11512283235788345,
                        "yaw": 99.23554992675781
                    }
                },
                "velocity": {
                    "x": -0.1924440562725067,
                    "y": 1.1825224161148071,
                    "z": 0.001982526620849967
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002573798701632768,
                "transform": {
                    "location": {
                        "x": 3542.439697265625,
                        "y": 4238.29931640625,
                        "z": 367.44573974609375
                    },
                    "rotation": {
                        "roll": 0.0022305818274617195,
                        "pitch": -0.5096482038497925,
                        "yaw": -171.27792358398438
                    }
                },
                "velocity": {
                    "x": -1.7129257685155608e-05,
                    "y": 4.997728410671698e-06,
                    "z": -0.00025676062796264887
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4318,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002766125544440001,
                "transform": {
                    "location": {
                        "x": 3530.15185546875,
                        "y": 4225.0048828125,
                        "z": 367.3521423339844
                    },
                    "rotation": {
                        "roll": 0.0006306199356913567,
                        "pitch": 0.12057331949472427,
                        "yaw": 99.32051849365234
                    }
                },
                "velocity": {
                    "x": 1.9213108316762373e-05,
                    "y": 7.659010634597507e-07,
                    "z": -0.00027594342827796936
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.194400787353516,
                "transform": {
                    "location": {
                        "x": 3520.917724609375,
                        "y": 4238.0322265625,
                        "z": 367.2628479003906
                    },
                    "rotation": {
                        "roll": 0.0023186129983514547,
                        "pitch": 0.47784683108329773,
                        "yaw": 9.128631591796875
                    }
                },
                "velocity": {
                    "x": 4.142863750457764,
                    "y": 0.6544554829597473,
                    "z": 0.0369470976293087
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.314702033996582,
                "transform": {
                    "location": {
                        "x": 3552.889404296875,
                        "y": 4243.0869140625,
                        "z": 367.555419921875
                    },
                    "rotation": {
                        "roll": 0.0011815481120720506,
                        "pitch": 0.538321316242218,
                        "yaw": 8.994853973388672
                    }
                },
                "velocity": {
                    "x": 13.150575637817383,
                    "y": 2.0805253982543945,
                    "z": 0.12271466851234436
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4312,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.221367359161377,
                "transform": {
                    "location": {
                        "x": 3525.160888671875,
                        "y": 4275.65478515625,
                        "z": 367.4629211425781
                    },
                    "rotation": {
                        "roll": 0.0017868011491373181,
                        "pitch": 0.3120781481266022,
                        "yaw": -80.7626953125
                    }
                },
                "velocity": {
                    "x": 1.1597625017166138,
                    "y": -7.127566814422607,
                    "z": -0.029843611642718315
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4309,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.790968179702759,
                "transform": {
                    "location": {
                        "x": 3527.841796875,
                        "y": 4259.1533203125,
                        "z": 367.4034423828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5491949915885925,
                        "yaw": -80.77442932128906
                    }
                },
                "velocity": {
                    "x": 0.6079992651939392,
                    "y": -3.7418596744537354,
                    "z": -0.01620013266801834
                },
                "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": 0.6783865094184875,
        "expert_target_speed": 8.252140263855361,
        "target_point": [
            49.204692086833894,
            10.600752620965615
        ],
        "target_point_next": [
            51.16263965663904,
            11.008272900676314
        ]
    },
    "265": {
        "acceleration": [
            0.16834259033203125,
            3.708052635192871,
            0.0016577541828155518
        ],
        "angular_velocity": [
            -2.2269043922424316,
            -0.40447375178337097,
            33.06519317626953
        ],
        "forward_vector": [
            0.993139386177063,
            0.11652017384767532,
            0.009862261824309826
        ],
        "right_vector": [
            -0.11679119616746902,
            0.9925761818885803,
            0.03394552320241928
        ],
        "location": [
            3540.044189453125,
            4240.591796875,
            367.42877197265625
        ],
        "rotation": [
            -1.9454035758972168,
            0.565075159072876,
            6.691641330718994
        ],
        "velocity": [
            7.892276287078857,
            1.4278515577316284,
            0.07189452648162842
        ],
        "speed": 8.020398061349816,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 16.417409896850586,
        "front_vehicle_info": {
            "id": 4313,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                3556.181396484375,
                4243.60791015625,
                367.5867004394531
            ],
            "velocity": [
                13.183517456054688,
                2.0857083797454834,
                0.12473662942647934
            ],
            "speed_kmh": 48.05303830740187,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 3590.192626953125,
                        "y": 4245.9501953125,
                        "z": 368.10589599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5497413873672485,
                        "yaw": -171.0115966796875
                    }
                },
                "velocity": {
                    "x": 5.072364750446923e-09,
                    "y": 8.023298692094727e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050020217895508,
                "transform": {
                    "location": {
                        "x": 3571.456787109375,
                        "y": 4242.93115234375,
                        "z": 367.7264404296875
                    },
                    "rotation": {
                        "roll": 0.003077658824622631,
                        "pitch": -0.29861584305763245,
                        "yaw": -170.51853942871094
                    }
                },
                "velocity": {
                    "x": -7.94173002243042,
                    "y": -1.313668966293335,
                    "z": -0.07758277654647827
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.29060173034668,
                "transform": {
                    "location": {
                        "x": 3479.44580078125,
                        "y": 4231.4697265625,
                        "z": 366.85260009765625
                    },
                    "rotation": {
                        "roll": -0.0001525871193734929,
                        "pitch": 0.6025046110153198,
                        "yaw": 8.984220504760742
                    }
                },
                "velocity": {
                    "x": 10.163920402526855,
                    "y": 1.6048667430877686,
                    "z": 0.12496469169855118
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.3662185668945312,
                "transform": {
                    "location": {
                        "x": 3553.71435546875,
                        "y": 4240.07568359375,
                        "z": 367.5437927246094
                    },
                    "rotation": {
                        "roll": 0.003579717595130205,
                        "pitch": -0.491609662771225,
                        "yaw": -171.28025817871094
                    }
                },
                "velocity": {
                    "x": -2.3385257720947266,
                    "y": -0.3602498471736908,
                    "z": -0.022540181875228882
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.7751855850219727,
                "transform": {
                    "location": {
                        "x": 3504.897216796875,
                        "y": 4235.49560546875,
                        "z": 367.160888671875
                    },
                    "rotation": {
                        "roll": -0.0007629395695403218,
                        "pitch": 0.5039039850234985,
                        "yaw": 8.885839462280273
                    }
                },
                "velocity": {
                    "x": 3.728733777999878,
                    "y": 0.5892437696456909,
                    "z": 0.03692220523953438
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0035564335994422436,
                "transform": {
                    "location": {
                        "x": 3542.43798828125,
                        "y": 4238.29931640625,
                        "z": 367.44573974609375
                    },
                    "rotation": {
                        "roll": 0.004091450944542885,
                        "pitch": -0.509006142616272,
                        "yaw": -171.28231811523438
                    }
                },
                "velocity": {
                    "x": 0.0035436830949038267,
                    "y": -5.691249043593416e-06,
                    "z": -0.00030082702869549394
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.081595420837402,
                "transform": {
                    "location": {
                        "x": 3521.9345703125,
                        "y": 4238.19384765625,
                        "z": 367.27166748046875
                    },
                    "rotation": {
                        "roll": -0.0029296877328306437,
                        "pitch": 0.48234111070632935,
                        "yaw": 9.054448127746582
                    }
                },
                "velocity": {
                    "x": 4.031424045562744,
                    "y": 0.6370623111724854,
                    "z": 0.034532640129327774
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.348066329956055,
                "transform": {
                    "location": {
                        "x": 3556.181396484375,
                        "y": 4243.60791015625,
                        "z": 367.5867004394531
                    },
                    "rotation": {
                        "roll": 0.000558945641387254,
                        "pitch": 0.5316823720932007,
                        "yaw": 8.984756469726562
                    }
                },
                "velocity": {
                    "x": 13.183517456054688,
                    "y": 2.0857083797454834,
                    "z": 0.12473662942647934
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.36556702852249146,
        "expert_target_speed": 8.529687275595464,
        "target_point": [
            48.31284057311295,
            2.3954185782458746
        ],
        "target_point_next": [
            50.31113998653694,
            2.4756115878581078
        ]
    },
    "270": {
        "acceleration": [
            0.09802818298339844,
            2.040719985961914,
            0.004420876502990723
        ],
        "angular_velocity": [
            -2.406083106994629,
            -0.4962403178215027,
            18.068992614746094
        ],
        "forward_vector": [
            0.9733402729034424,
            0.2291576862335205,
            0.009774052537977695
        ],
        "right_vector": [
            -0.22933349013328552,
            0.9730358719825745,
            0.024646013975143433
        ],
        "location": [
            3542.017333984375,
            4241.02978515625,
            367.4466857910156
        ],
        "rotation": [
            -1.412322998046875,
            0.5600208640098572,
            13.248130798339844
        ],
        "velocity": [
            7.876006126403809,
            2.1877574920654297,
            0.07255897670984268
        ],
        "speed": 8.174212827376024,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 17.73451042175293,
        "front_vehicle_info": {
            "id": 4313,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                3559.47802734375,
                4244.12939453125,
                367.6182861328125
            ],
            "velocity": [
                13.183821678161621,
                2.085538864135742,
                0.1273408681154251
            ],
            "speed_kmh": 48.054113179969534,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.012218010611832142,
                "transform": {
                    "location": {
                        "x": 3590.1943359375,
                        "y": 4245.9501953125,
                        "z": 367.847412109375
                    },
                    "rotation": {
                        "roll": 4.118653669138439e-05,
                        "pitch": -0.559597373008728,
                        "yaw": -171.01158142089844
                    }
                },
                "velocity": {
                    "x": 0.00014719627506565303,
                    "y": -7.272725633811206e-05,
                    "z": -0.012216907925903797
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02955436706543,
                "transform": {
                    "location": {
                        "x": 3569.4287109375,
                        "y": 4242.59765625,
                        "z": 367.7062683105469
                    },
                    "rotation": {
                        "roll": 0.003513706848025322,
                        "pitch": -0.49609026312828064,
                        "yaw": -170.67396545410156
                    }
                },
                "velocity": {
                    "x": -7.923527240753174,
                    "y": -1.2981575727462769,
                    "z": -0.07906629145145416
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.148285865783691,
                "transform": {
                    "location": {
                        "x": 3482.09814453125,
                        "y": 4231.88916015625,
                        "z": 366.88507080078125
                    },
                    "rotation": {
                        "roll": 0.00129106012172997,
                        "pitch": 0.6013503074645996,
                        "yaw": 8.986997604370117
                    }
                },
                "velocity": {
                    "x": 11.010642051696777,
                    "y": 1.7414027452468872,
                    "z": 0.13253580033779144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.2403993606567383,
                "transform": {
                    "location": {
                        "x": 3553.28466796875,
                        "y": 4240.0107421875,
                        "z": 367.5398254394531
                    },
                    "rotation": {
                        "roll": -0.0014343301299959421,
                        "pitch": -0.5116221308708191,
                        "yaw": -170.9993438720703
                    }
                },
                "velocity": {
                    "x": -2.2127387523651123,
                    "y": -0.35038328170776367,
                    "z": -0.020216263830661774
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.448283672332764,
                "transform": {
                    "location": {
                        "x": 3505.890625,
                        "y": 4235.65185546875,
                        "z": 367.1698303222656
                    },
                    "rotation": {
                        "roll": -0.00042724827653728426,
                        "pitch": 0.5719121694564819,
                        "yaw": 8.930597305297852
                    }
                },
                "velocity": {
                    "x": 4.393575191497803,
                    "y": 0.6942643523216248,
                    "z": 0.0414704792201519
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6627785563468933,
                "transform": {
                    "location": {
                        "x": 3542.358642578125,
                        "y": 4238.2900390625,
                        "z": 367.4449462890625
                    },
                    "rotation": {
                        "roll": 0.006300969980657101,
                        "pitch": -0.4977363348007202,
                        "yaw": -171.41481018066406
                    }
                },
                "velocity": {
                    "x": -0.6595571041107178,
                    "y": -0.06502261012792587,
                    "z": -0.005647716578096151
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.6042656898498535,
                "transform": {
                    "location": {
                        "x": 3522.99951171875,
                        "y": 4238.3623046875,
                        "z": 367.2806701660156
                    },
                    "rotation": {
                        "roll": -0.0036010711919516325,
                        "pitch": 0.4948676824569702,
                        "yaw": 9.017850875854492
                    }
                },
                "velocity": {
                    "x": 4.54773473739624,
                    "y": 0.7182775735855103,
                    "z": 0.03803703188896179
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.34836483001709,
                "transform": {
                    "location": {
                        "x": 3559.47802734375,
                        "y": 4244.12939453125,
                        "z": 367.6182861328125
                    },
                    "rotation": {
                        "roll": 0.0003898618742823601,
                        "pitch": 0.5430956482887268,
                        "yaw": 8.994287490844727
                    }
                },
                "velocity": {
                    "x": 13.183821678161621,
                    "y": 2.085538864135742,
                    "z": 0.1273408681154251
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04370826482772827,
        "expert_target_speed": 8.663266060152552,
        "target_point": [
            46.2493734341329,
            -3.1108795845671366
        ],
        "target_point_next": [
            48.243760187810715,
            -3.2593819119422216
        ]
    },
    "275": {
        "acceleration": [
            0.436248779296875,
            -0.7726621627807617,
            0.011394023895263672
        ],
        "angular_velocity": [
            -3.1184818744659424,
            -0.8819993734359741,
            1.6107566356658936
        ],
        "forward_vector": [
            0.963695764541626,
            0.26682204008102417,
            0.009817322716116905
        ],
        "right_vector": [
            -0.26690882444381714,
            0.9636803269386292,
            0.008937549777328968
        ],
        "location": [
            3544.002685546875,
            4241.57177734375,
            367.4649658203125
        ],
        "rotation": [
            -0.5121154189109802,
            0.5625001788139343,
            15.476012229919434
        ],
        "velocity": [
            7.983134746551514,
            2.181065320968628,
            0.07362475991249084
        ],
        "speed": 8.27571666479285,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 19.02203941345215,
        "front_vehicle_info": {
            "id": 4313,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                3562.77294921875,
                4244.65087890625,
                367.65032958984375
            ],
            "velocity": [
                13.178446769714355,
                2.084888458251953,
                0.1272161453962326
            ],
            "speed_kmh": 48.034631924142246,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6357861161231995,
                "transform": {
                    "location": {
                        "x": 3590.1669921875,
                        "y": 4245.94580078125,
                        "z": 367.8772888183594
                    },
                    "rotation": {
                        "roll": -0.006225591525435448,
                        "pitch": -0.44558101892471313,
                        "yaw": -170.96884155273438
                    }
                },
                "velocity": {
                    "x": -0.6152213215827942,
                    "y": -0.10408469289541245,
                    "z": 0.12203727662563324
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.910707950592041,
                "transform": {
                    "location": {
                        "x": 3567.597412109375,
                        "y": 4242.298828125,
                        "z": 367.6879577636719
                    },
                    "rotation": {
                        "roll": 0.0013503985246643424,
                        "pitch": -0.6819192171096802,
                        "yaw": -170.7312774658203
                    }
                },
                "velocity": {
                    "x": -6.820176124572754,
                    "y": -1.1129002571105957,
                    "z": -0.06731916218996048
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.29153060913086,
                "transform": {
                    "location": {
                        "x": 3484.915283203125,
                        "y": 4232.3349609375,
                        "z": 366.91815185546875
                    },
                    "rotation": {
                        "roll": -0.00015258442726917565,
                        "pitch": 0.6248666644096375,
                        "yaw": 8.98734188079834
                    }
                },
                "velocity": {
                    "x": 11.152144432067871,
                    "y": 1.7637907266616821,
                    "z": 0.13187533617019653
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6452934741973877,
                "transform": {
                    "location": {
                        "x": 3552.93994140625,
                        "y": 4239.9443359375,
                        "z": 367.5368957519531
                    },
                    "rotation": {
                        "roll": 0.009815972298383713,
                        "pitch": -0.5612434148788452,
                        "yaw": -171.90890502929688
                    }
                },
                "velocity": {
                    "x": -1.62483549118042,
                    "y": -0.25834348797798157,
                    "z": -0.012601947411894798
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.976018905639648,
                "transform": {
                    "location": {
                        "x": 3507.052490234375,
                        "y": 4235.83544921875,
                        "z": 367.1805114746094
                    },
                    "rotation": {
                        "roll": -0.0010986343258991838,
                        "pitch": 0.5882704854011536,
                        "yaw": 8.959571838378906
                    }
                },
                "velocity": {
                    "x": 4.91465950012207,
                    "y": 0.7776816487312317,
                    "z": 0.04579750820994377
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.3853986263275146,
                "transform": {
                    "location": {
                        "x": 3542.099853515625,
                        "y": 4238.2607421875,
                        "z": 367.44256591796875
                    },
                    "rotation": {
                        "roll": 0.01106322929263115,
                        "pitch": -0.4916984736919403,
                        "yaw": -171.8438720703125
                    }
                },
                "velocity": {
                    "x": -1.378635048866272,
                    "y": -0.13622508943080902,
                    "z": -0.01172251719981432
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.205860614776611,
                "transform": {
                    "location": {
                        "x": 3524.229248046875,
                        "y": 4238.556640625,
                        "z": 367.2914123535156
                    },
                    "rotation": {
                        "roll": -0.013549800962209702,
                        "pitch": 0.500188410282135,
                        "yaw": 8.991936683654785
                    }
                },
                "velocity": {
                    "x": 5.141987323760986,
                    "y": 0.8117737174034119,
                    "z": 0.044452112168073654
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.3429536819458,
                "transform": {
                    "location": {
                        "x": 3562.77294921875,
                        "y": 4244.65087890625,
                        "z": 367.65032958984375
                    },
                    "rotation": {
                        "roll": -0.00018310612358618528,
                        "pitch": 0.5477879643440247,
                        "yaw": 8.984688758850098
                    }
                },
                "velocity": {
                    "x": 13.178446769714355,
                    "y": 2.084888458251953,
                    "z": 0.1272161453962326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.16358445584774017,
        "expert_target_speed": 8.75241989158247,
        "target_point": [
            44.03549189310592,
            -4.899012386549621
        ],
        "target_point_next": [
            46.022598222363534,
            -5.124932506737386
        ]
    },
    "280": {
        "acceleration": [
            -0.38733482360839844,
            -0.6754040718078613,
            0.008350461721420288
        ],
        "angular_velocity": [
            -0.8471136093139648,
            0.003980906214565039,
            -9.51799488067627
        ],
        "forward_vector": [
            0.9706017971038818,
            0.24051038920879364,
            0.009319169446825981
        ],
        "right_vector": [
            -0.24050946533679962,
            0.9706459641456604,
            -0.0012347844894975424
        ],
        "location": [
            3546.003662109375,
            4242.07568359375,
            367.48358154296875
        ],
        "rotation": [
            0.07075103372335434,
            0.5339568257331848,
            13.917282104492188
        ],
        "velocity": [
            7.982692241668701,
            1.8881350755691528,
            0.07422283291816711
        ],
        "speed": 8.20295248607428,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 20.30291175842285,
        "front_vehicle_info": {
            "id": 4313,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                3566.068115234375,
                4245.171875,
                367.6824951171875
            ],
            "velocity": [
                13.180106163024902,
                2.084914207458496,
                0.12792058289051056
            ],
            "speed_kmh": 48.04057082279403,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7800778150558472,
                "transform": {
                    "location": {
                        "x": 3589.842041015625,
                        "y": 4245.8916015625,
                        "z": 367.8934326171875
                    },
                    "rotation": {
                        "roll": -0.015167232602834702,
                        "pitch": -0.14908252656459808,
                        "yaw": -170.87078857421875
                    }
                },
                "velocity": {
                    "x": -1.7547637224197388,
                    "y": -0.2977815270423889,
                    "z": 0.02841540239751339
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.259294033050537,
                "transform": {
                    "location": {
                        "x": 3566.356689453125,
                        "y": 4242.09716796875,
                        "z": 367.6748352050781
                    },
                    "rotation": {
                        "roll": 0.00029858684865757823,
                        "pitch": -1.1446781158447266,
                        "yaw": -170.8045654296875
                    }
                },
                "velocity": {
                    "x": -2.230236053466797,
                    "y": -0.36045733094215393,
                    "z": -0.022965801879763603
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4323,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.909466743469238,
                "transform": {
                    "location": {
                        "x": 3487.532958984375,
                        "y": 4232.74853515625,
                        "z": 366.9474182128906
                    },
                    "rotation": {
                        "roll": -0.00024413422215729952,
                        "pitch": 0.7633897066116333,
                        "yaw": 8.986934661865234
                    }
                },
                "velocity": {
                    "x": 9.78719711303711,
                    "y": 1.547850489616394,
                    "z": 0.1116618737578392
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.551269292831421,
                "transform": {
                    "location": {
                        "x": 3552.56201171875,
                        "y": 4239.88623046875,
                        "z": 367.53326416015625
                    },
                    "rotation": {
                        "roll": 0.008736955933272839,
                        "pitch": -0.5490105748176575,
                        "yaw": -171.80812072753906
                    }
                },
                "velocity": {
                    "x": -1.5321003198623657,
                    "y": -0.24280016124248505,
                    "z": -0.01238124817609787
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4321,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.279003143310547,
                "transform": {
                    "location": {
                        "x": 3508.3330078125,
                        "y": 4236.03857421875,
                        "z": 367.1928405761719
                    },
                    "rotation": {
                        "roll": -0.0005493227508850396,
                        "pitch": 0.5593377947807312,
                        "yaw": 8.921955108642578
                    }
                },
                "velocity": {
                    "x": 5.2140092849731445,
                    "y": 0.8245769143104553,
                    "z": 0.04534393176436424
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2740535736083984,
                "transform": {
                    "location": {
                        "x": 3541.6396484375,
                        "y": 4238.2109375,
                        "z": 367.43841552734375
                    },
                    "rotation": {
                        "roll": 0.016824770718812943,
                        "pitch": -0.4894103407859802,
                        "yaw": -172.4300079345703
                    }
                },
                "velocity": {
                    "x": -2.263394355773926,
                    "y": -0.21901069581508636,
                    "z": -0.020000213757157326
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4315,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.037911891937256,
                "transform": {
                    "location": {
                        "x": 3525.58837890625,
                        "y": 4238.771484375,
                        "z": 367.3028564453125
                    },
                    "rotation": {
                        "roll": -0.001434323494322598,
                        "pitch": 0.49666401743888855,
                        "yaw": 8.979989051818848
                    }
                },
                "velocity": {
                    "x": 5.96375846862793,
                    "y": 0.9420955181121826,
                    "z": 0.049216680228710175
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4313,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.344602584838867,
                "transform": {
                    "location": {
                        "x": 3566.068115234375,
                        "y": 4245.171875,
                        "z": 367.6824951171875
                    },
                    "rotation": {
                        "roll": -0.0005188014474697411,
                        "pitch": 0.5501307249069214,
                        "yaw": 8.994281768798828
                    }
                },
                "velocity": {
                    "x": 13.180106163024902,
                    "y": 2.084914207458496,
                    "z": 0.12792058289051056
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.19830678403377533,
        "expert_target_speed": 8.710899449356706,
        "target_point": [
            42.08902266074498,
            -3.7071998943782916
        ],
        "target_point_next": [
            44.081539091815365,
            -3.8789838761574114
        ]
    },
    "285": {
        "acceleration": [
            0.2753734588623047,
            -0.6166338920593262,
            0.016561150550842285
        ],
        "angular_velocity": [
            -0.37027600407600403,
            -0.17694959044456482,
            -1.2638376951217651
        ],
        "forward_vector": [
            0.9749637842178345,
            0.2221841663122177,
            0.008938193321228027
        ],
        "right_vector": [
            -0.22216728329658508,
            0.9750044345855713,
            -0.002852223115041852
        ],
        "location": [
            3547.989501953125,
            4242.53466796875,
            367.5022277832031
        ],
        "rotation": [
            0.16342709958553314,
            0.5121275782585144,
            12.837873458862305
        ],
        "velocity": [
            7.951655864715576,
            1.7541190385818481,
            0.07380512356758118
        ],
        "speed": 8.1428351691767,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 86.38611602783203,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.34521484375,
                4255.8125,
                368.3161315917969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.755941152572632,
                "transform": {
                    "location": {
                        "x": 3589.29345703125,
                        "y": 4245.798828125,
                        "z": 367.8943176269531
                    },
                    "rotation": {
                        "roll": -0.01547241397202015,
                        "pitch": -0.133079394698143,
                        "yaw": -170.71868896484375
                    }
                },
                "velocity": {
                    "x": -2.7170181274414062,
                    "y": -0.4612921178340912,
                    "z": -0.01528369914740324
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6670112609863281,
                "transform": {
                    "location": {
                        "x": 3566.231689453125,
                        "y": 4242.0771484375,
                        "z": 367.67401123046875
                    },
                    "rotation": {
                        "roll": -0.0010070777498185635,
                        "pitch": -0.9036203026771545,
                        "yaw": -170.80177307128906
                    }
                },
                "velocity": {
                    "x": -0.6583754420280457,
                    "y": -0.106846384704113,
                    "z": -0.005444774404168129
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6844347715377808,
                "transform": {
                    "location": {
                        "x": 3552.137939453125,
                        "y": 4239.8154296875,
                        "z": 367.52935791015625
                    },
                    "rotation": {
                        "roll": 0.009485800750553608,
                        "pitch": -0.5451651811599731,
                        "yaw": -172.16555786132812
                    }
                },
                "velocity": {
                    "x": -1.662811279296875,
                    "y": -0.26858144998550415,
                    "z": -0.015591220930218697
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.013725996017456,
                "transform": {
                    "location": {
                        "x": 3540.978271484375,
                        "y": 4238.1416015625,
                        "z": 367.4324951171875
                    },
                    "rotation": {
                        "roll": 0.021525926887989044,
                        "pitch": -0.49025729298591614,
                        "yaw": -173.10830688476562
                    }
                },
                "velocity": {
                    "x": -3.000159502029419,
                    "y": -0.28443315625190735,
                    "z": -0.02617645263671875
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2899223566055298,
        "expert_target_speed": 10.0,
        "target_point": [
            40.113208196357306,
            -2.9199355980105937
        ],
        "target_point_next": [
            42.10860713718362,
            -3.0541538211794244
        ]
    },
    "290": {
        "acceleration": [
            0.8776283264160156,
            -0.3711819648742676,
            0.006107240915298462
        ],
        "angular_velocity": [
            -0.0063824113458395,
            -0.24617066979408264,
            -6.332677364349365
        ],
        "forward_vector": [
            0.9786713719367981,
            0.20519572496414185,
            0.009851295500993729
        ],
        "right_vector": [
            -0.20516952872276306,
            0.9787197709083557,
            -0.0036115499678999186
        ],
        "location": [
            3549.998046875,
            4242.96142578125,
            367.52069091796875
        ],
        "rotation": [
            0.20693707466125488,
            0.5644468069076538,
            11.841540336608887
        ],
        "velocity": [
            8.13134765625,
            1.6482077836990356,
            0.07653523981571198
        ],
        "speed": 8.296710408652844,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 84.3358383178711,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.34521484375,
                4255.8125,
                368.3161315917969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.178319931030273,
                "transform": {
                    "location": {
                        "x": 3588.43017578125,
                        "y": 4245.65234375,
                        "z": 367.8869934082031
                    },
                    "rotation": {
                        "roll": -0.0190124474465847,
                        "pitch": 0.0018441509455442429,
                        "yaw": -170.55322265625
                    }
                },
                "velocity": {
                    "x": -4.118736743927002,
                    "y": -0.7021060585975647,
                    "z": -0.03757980838418007
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6126437187194824,
                "transform": {
                    "location": {
                        "x": 3565.93701171875,
                        "y": 4242.02978515625,
                        "z": 367.6716613769531
                    },
                    "rotation": {
                        "roll": -0.0014953621430322528,
                        "pitch": -0.5177351236343384,
                        "yaw": -170.81455993652344
                    }
                },
                "velocity": {
                    "x": -1.5920162200927734,
                    "y": -0.2566470801830292,
                    "z": -0.015380334109067917
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.002483863616362214,
                "transform": {
                    "location": {
                        "x": 3551.770751953125,
                        "y": 4239.75341796875,
                        "z": 367.52630615234375
                    },
                    "rotation": {
                        "roll": 0.0209976639598608,
                        "pitch": -0.6301327347755432,
                        "yaw": -172.46859741210938
                    }
                },
                "velocity": {
                    "x": -0.0003131703124381602,
                    "y": -0.000997058697976172,
                    "z": -0.002253303537145257
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7880282402038574,
                "transform": {
                    "location": {
                        "x": 3540.127197265625,
                        "y": 4238.056640625,
                        "z": 367.42498779296875
                    },
                    "rotation": {
                        "roll": 0.0265129953622818,
                        "pitch": -0.4907832145690918,
                        "yaw": -173.72369384765625
                    }
                },
                "velocity": {
                    "x": -3.771732807159424,
                    "y": -0.3493329882621765,
                    "z": -0.0339994952082634
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3338627815246582,
        "expert_target_speed": 10.0,
        "target_point": [
            38.10454260510918,
            -2.2275005075782017
        ],
        "target_point_next": [
            40.10197370450808,
            -2.3270016012176784
        ]
    },
    "295": {
        "acceleration": [
            0.8200645446777344,
            -0.6110191345214844,
            0.009286850690841675
        ],
        "angular_velocity": [
            -0.1399732530117035,
            -0.13575701415538788,
            -2.2923214435577393
        ],
        "forward_vector": [
            0.982187032699585,
            0.18759892880916595,
            0.010737450793385506
        ],
        "right_vector": [
            -0.18756331503391266,
            0.9822433590888977,
            -0.004243112169206142
        ],
        "location": [
            3552.061279296875,
            4243.36181640625,
            367.53997802734375
        ],
        "rotation": [
            0.24312713742256165,
            0.6152224540710449,
            10.813323974609375
        ],
        "velocity": [
            8.362056732177734,
            1.5187135934829712,
            0.07717134058475494
        ],
        "speed": 8.49885190900447,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 82.23564147949219,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.34521484375,
                4255.8125,
                368.3161315917969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.404754161834717,
                "transform": {
                    "location": {
                        "x": 3587.232666015625,
                        "y": 4245.44873046875,
                        "z": 367.8758544921875
                    },
                    "rotation": {
                        "roll": -0.017730707302689552,
                        "pitch": 0.026262076571583748,
                        "yaw": -170.4128875732422
                    }
                },
                "velocity": {
                    "x": -5.327190399169922,
                    "y": -0.9110162258148193,
                    "z": -0.04958823695778847
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2017228603363037,
                "transform": {
                    "location": {
                        "x": 3565.426513671875,
                        "y": 4241.94775390625,
                        "z": 367.6667785644531
                    },
                    "rotation": {
                        "roll": -0.0024108837824314833,
                        "pitch": -0.46914517879486084,
                        "yaw": -170.81820678710938
                    }
                },
                "velocity": {
                    "x": -2.1736855506896973,
                    "y": -0.3495899736881256,
                    "z": -0.02146809920668602
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8016020059585571,
                "transform": {
                    "location": {
                        "x": 3551.478759765625,
                        "y": 4239.71142578125,
                        "z": 367.5229187011719
                    },
                    "rotation": {
                        "roll": 0.010105657391250134,
                        "pitch": -0.49850133061408997,
                        "yaw": -172.20310974121094
                    }
                },
                "velocity": {
                    "x": -1.7782974243164062,
                    "y": -0.2884035110473633,
                    "z": -0.015853680670261383
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.468599319458008,
                "transform": {
                    "location": {
                        "x": 3539.091064453125,
                        "y": 4237.95751953125,
                        "z": 367.4156799316406
                    },
                    "rotation": {
                        "roll": 0.03000069037079811,
                        "pitch": -0.49032559990882874,
                        "yaw": -174.2138214111328
                    }
                },
                "velocity": {
                    "x": -4.450114727020264,
                    "y": -0.4042081832885742,
                    "z": -0.03843795135617256
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.36131682991981506,
        "expert_target_speed": 10.0,
        "target_point": [
            36.03666491268615,
            -1.549562655180007
        ],
        "target_point_next": [
            38.03555991138728,
            -1.6132042190273692
        ]
    },
    "300": {
        "acceleration": [
            -0.3749847412109375,
            -0.808711051940918,
            -0.00782504677772522
        ],
        "angular_velocity": [
            -0.0691969245672226,
            0.2972564399242401,
            -7.577298641204834
        ],
        "forward_vector": [
            0.9860987663269043,
            0.16585026681423187,
            0.010140720754861832
        ],
        "right_vector": [
            -0.1658114194869995,
            0.986146867275238,
            -0.004565135575830936
        ],
        "location": [
            3554.159912109375,
            4243.72314453125,
            367.5599060058594
        ],
        "rotation": [
            0.2615773677825928,
            0.5810304880142212,
            9.547127723693848
        ],
        "velocity": [
            8.37977123260498,
            1.335900902748108,
            0.08001527935266495
        ],
        "speed": 8.485587612697026,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 80.10640716552734,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.34521484375,
                4255.8125,
                368.3161315917969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 3537.572509765625,
                        "y": 4240.6640625,
                        "z": 367.6061706542969
                    },
                    "rotation": {
                        "roll": 6.670362484584302e-09,
                        "pitch": 0.5017661452293396,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 5.974215788739912e-09,
                    "y": 9.449803162198123e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.874195575714111,
                "transform": {
                    "location": {
                        "x": 3585.894287109375,
                        "y": 4245.2255859375,
                        "z": 367.8638610839844
                    },
                    "rotation": {
                        "roll": 0.011203153058886528,
                        "pitch": -0.25311315059661865,
                        "yaw": -170.51132202148438
                    }
                },
                "velocity": {
                    "x": -5.795094013214111,
                    "y": -0.9590485095977783,
                    "z": -0.05733264237642288
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7066572904586792,
                "transform": {
                    "location": {
                        "x": 3565.2255859375,
                        "y": 4241.9150390625,
                        "z": 367.6645202636719
                    },
                    "rotation": {
                        "roll": -0.0008239746675826609,
                        "pitch": -0.6905115842819214,
                        "yaw": -170.86859130859375
                    }
                },
                "velocity": {
                    "x": -0.6978784203529358,
                    "y": -0.11082842946052551,
                    "z": -0.006879996974021196
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6573857069015503,
                "transform": {
                    "location": {
                        "x": 3551.053466796875,
                        "y": 4239.6474609375,
                        "z": 367.5191955566406
                    },
                    "rotation": {
                        "roll": 0.008507546037435532,
                        "pitch": -0.5385125875473022,
                        "yaw": -171.9073486328125
                    }
                },
                "velocity": {
                    "x": -1.6377702951431274,
                    "y": -0.25373193621635437,
                    "z": -0.01600070856511593
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.153111934661865,
                "transform": {
                    "location": {
                        "x": 3538.01513671875,
                        "y": 4237.85791015625,
                        "z": 367.4062805175781
                    },
                    "rotation": {
                        "roll": 0.031568702310323715,
                        "pitch": -0.5150781869888306,
                        "yaw": -174.53514099121094
                    }
                },
                "velocity": {
                    "x": -4.136579513549805,
                    "y": -0.36831134557724,
                    "z": -0.037329819053411484
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.33680397272109985,
        "expert_target_speed": 10.0,
        "target_point": [
            33.932611755372015,
            -0.7611130468627776
        ],
        "target_point_next": [
            35.932424983397176,
            -0.7805685729914096
        ]
    },
    "305": {
        "acceleration": [
            -0.5111503601074219,
            -0.6533050537109375,
            0.004280060529708862
        ],
        "angular_velocity": [
            0.09354875981807709,
            0.17585864663124084,
            -1.5903023481369019
        ],
        "forward_vector": [
            0.9892361164093018,
            0.14604796469211578,
            0.009052271954715252
        ],
        "right_vector": [
            -0.14601515233516693,
            0.9892735481262207,
            -0.004187439568340778
        ],
        "location": [
            3556.23828125,
            4244.03662109375,
            367.579833984375
        ],
        "rotation": [
            0.23993311822414398,
            0.5186640620231628,
            8.3983154296875
        ],
        "velocity": [
            8.260991096496582,
            1.1553637981414795,
            0.0799250602722168
        ],
        "speed": 8.341393133191344,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 78.00444030761719,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.34521484375,
                4255.8125,
                368.3161315917969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13334691524505615,
                "transform": {
                    "location": {
                        "x": 3537.57373046875,
                        "y": 4240.6640625,
                        "z": 367.3519592285156
                    },
                    "rotation": {
                        "roll": 1.842357414716389e-05,
                        "pitch": 0.5134730935096741,
                        "yaw": 8.98450756072998
                    }
                },
                "velocity": {
                    "x": -0.0012461291626095772,
                    "y": -0.0002481462142895907,
                    "z": 0.13334086537361145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.4651103019714355,
                "transform": {
                    "location": {
                        "x": 3584.23388671875,
                        "y": 4244.95068359375,
                        "z": 367.8465576171875
                    },
                    "rotation": {
                        "roll": 0.007713973522186279,
                        "pitch": 0.011556679382920265,
                        "yaw": -170.5980682373047
                    }
                },
                "velocity": {
                    "x": -7.365237236022949,
                    "y": -1.2148659229278564,
                    "z": -0.07248304784297943
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7299126386642456,
                "transform": {
                    "location": {
                        "x": 3564.917724609375,
                        "y": 4241.86572265625,
                        "z": 367.6617736816406
                    },
                    "rotation": {
                        "roll": -0.0016784697072580457,
                        "pitch": -0.46048450469970703,
                        "yaw": -170.81890869140625
                    }
                },
                "velocity": {
                    "x": -1.707716464996338,
                    "y": -0.2757231593132019,
                    "z": -0.01669854111969471
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8935446739196777,
                "transform": {
                    "location": {
                        "x": 3550.639404296875,
                        "y": 4239.5888671875,
                        "z": 367.5152282714844
                    },
                    "rotation": {
                        "roll": 0.0034000615123659372,
                        "pitch": -0.5226460695266724,
                        "yaw": -171.19638061523438
                    }
                },
                "velocity": {
                    "x": -1.8721923828125,
                    "y": -0.2830621004104614,
                    "z": -0.0168169979006052
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.0989837646484375,
                "transform": {
                    "location": {
                        "x": 3537.005615234375,
                        "y": 4237.82666015625,
                        "z": 367.397216796875
                    },
                    "rotation": {
                        "roll": 0.10905372351408005,
                        "pitch": -0.5212936401367188,
                        "yaw": -177.19773864746094
                    }
                },
                "velocity": {
                    "x": -4.074731349945068,
                    "y": 0.44361937046051025,
                    "z": -0.03788132965564728
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.27876853942871094,
        "expert_target_speed": 10.0,
        "target_point": [
            31.83918431218801,
            -0.08720430964063208
        ],
        "target_point_next": [
            33.83898563749375,
            -0.06656154367386424
        ]
    },
    "310": {
        "acceleration": [
            -0.5093002319335938,
            -0.37448644638061523,
            0.0022995471954345703
        ],
        "angular_velocity": [
            0.3782522976398468,
            0.04197888448834419,
            -5.629047393798828
        ],
        "forward_vector": [
            0.9915273785591125,
            0.12960202991962433,
            0.00875962432473898
        ],
        "right_vector": [
            -0.12957781553268433,
            0.9915638566017151,
            -0.0032803737558424473
        ],
        "location": [
            3558.286376953125,
            4244.31005859375,
            367.5994873046875
        ],
        "rotation": [
            0.18795911967754364,
            0.5018959045410156,
            7.446883201599121
        ],
        "velocity": [
            8.13399600982666,
            1.0212757587432861,
            0.0796201303601265
        ],
        "speed": 8.197859187816823,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 75.9384536743164,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.34521484375,
                4255.8125,
                368.3161315917969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13114771246910095,
                "transform": {
                    "location": {
                        "x": 3537.5732421875,
                        "y": 4240.6640625,
                        "z": 367.4031066894531
                    },
                    "rotation": {
                        "roll": -0.0010681136045604944,
                        "pitch": 0.5126603245735168,
                        "yaw": 8.985994338989258
                    }
                },
                "velocity": {
                    "x": -0.0012479494325816631,
                    "y": -0.0003089106467086822,
                    "z": 0.13114140927791595
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.485475540161133,
                "transform": {
                    "location": {
                        "x": 3582.2236328125,
                        "y": 4244.61962890625,
                        "z": 367.8268737792969
                    },
                    "rotation": {
                        "roll": 0.0036037303507328033,
                        "pitch": -0.019261132925748825,
                        "yaw": -170.63829040527344
                    }
                },
                "velocity": {
                    "x": -8.372396469116211,
                    "y": -1.3781979084014893,
                    "z": -0.08270516246557236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.891946792602539,
                "transform": {
                    "location": {
                        "x": 3564.351806640625,
                        "y": 4241.7744140625,
                        "z": 367.65631103515625
                    },
                    "rotation": {
                        "roll": -0.002960204379633069,
                        "pitch": -0.38827574253082275,
                        "yaw": -170.7514190673828
                    }
                },
                "velocity": {
                    "x": -2.854893684387207,
                    "y": -0.46061256527900696,
                    "z": -0.02780930884182453
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1905555725097656,
                "transform": {
                    "location": {
                        "x": 3550.25244140625,
                        "y": 4239.52978515625,
                        "z": 367.5113830566406
                    },
                    "rotation": {
                        "roll": -0.0014343224465847015,
                        "pitch": -0.49175992608070374,
                        "yaw": -171.05763244628906
                    }
                },
                "velocity": {
                    "x": -2.1638965606689453,
                    "y": -0.34019631147384644,
                    "z": -0.018752003088593483
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.7951979637146,
                "transform": {
                    "location": {
                        "x": 3535.90771484375,
                        "y": 4237.9423828125,
                        "z": 367.38629150390625
                    },
                    "rotation": {
                        "roll": 0.14156776666641235,
                        "pitch": -0.5577942132949829,
                        "yaw": 177.12615966796875
                    }
                },
                "velocity": {
                    "x": -4.727326393127441,
                    "y": 0.8029690384864807,
                    "z": -0.03934702277183533
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2137700617313385,
        "expert_target_speed": 10.0,
        "target_point": [
            29.769982322159265,
            0.43580877778723703
        ],
        "target_point_next": [
            31.76916516463916,
            0.4896551037099304
        ]
    },
    "315": {
        "acceleration": [
            -0.8250331878662109,
            -0.10370731353759766,
            0.003757774829864502
        ],
        "angular_velocity": [
            0.3160870671272278,
            0.12409573793411255,
            2.4657680988311768
        ],
        "forward_vector": [
            0.9921795129776001,
            0.12451726943254471,
            0.00867057777941227
        ],
        "right_vector": [
            -0.12451107054948807,
            0.9922174215316772,
            -0.0012540381867438555
        ],
        "location": [
            3560.299560546875,
            4244.5634765625,
            367.6189270019531
        ],
        "rotation": [
            0.07185381650924683,
            0.4967937767505646,
            7.1531500816345215
        ],
        "velocity": [
            7.9652323722839355,
            0.9942910671234131,
            0.07639753073453903
        ],
        "speed": 8.027050608451487,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 73.91004180908203,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.34521484375,
                4255.8125,
                368.3161315917969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7211921215057373,
                "transform": {
                    "location": {
                        "x": 3537.693603515625,
                        "y": 4240.68505859375,
                        "z": 367.41815185546875
                    },
                    "rotation": {
                        "roll": -9.155240695690736e-05,
                        "pitch": 0.365271657705307,
                        "yaw": 8.95187759399414
                    }
                },
                "velocity": {
                    "x": 1.696895718574524,
                    "y": 0.28724241256713867,
                    "z": 0.023217495530843735
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.500821113586426,
                "transform": {
                    "location": {
                        "x": 3580.239013671875,
                        "y": 4244.29638671875,
                        "z": 367.8094177246094
                    },
                    "rotation": {
                        "roll": 0.017756037414073944,
                        "pitch": -0.5989324450492859,
                        "yaw": -170.77117919921875
                    }
                },
                "velocity": {
                    "x": -7.404277801513672,
                    "y": -1.197343349456787,
                    "z": -0.07317744195461273
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.4309282302856445,
                "transform": {
                    "location": {
                        "x": 3563.436279296875,
                        "y": 4241.62744140625,
                        "z": 367.6474914550781
                    },
                    "rotation": {
                        "roll": -0.0006713871844112873,
                        "pitch": -0.3283408284187317,
                        "yaw": -170.80795288085938
                    }
                },
                "velocity": {
                    "x": -4.374555587768555,
                    "y": -0.7032886147499084,
                    "z": -0.04212772846221924
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.4656598567962646,
                "transform": {
                    "location": {
                        "x": 3549.52587890625,
                        "y": 4239.4169921875,
                        "z": 367.50439453125
                    },
                    "rotation": {
                        "roll": -0.002838138025254011,
                        "pitch": -0.442288875579834,
                        "yaw": -170.7862548828125
                    }
                },
                "velocity": {
                    "x": -3.4232118129730225,
                    "y": -0.5398285984992981,
                    "z": -0.03167816624045372
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.324825286865234,
                "transform": {
                    "location": {
                        "x": 3534.63720703125,
                        "y": 4238.13720703125,
                        "z": 367.3761901855469
                    },
                    "rotation": {
                        "roll": 0.16144654154777527,
                        "pitch": -0.505249559879303,
                        "yaw": 172.77328491210938
                    }
                },
                "velocity": {
                    "x": -5.229486465454102,
                    "y": 1.0022919178009033,
                    "z": -0.040604375302791595
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.16320237517356873,
        "expert_target_speed": 10.0,
        "target_point": [
            27.738286120373008,
            0.5876607825832565
        ],
        "target_point_next": [
            29.737166644544473,
            0.6517553577776773
        ]
    },
    "320": {
        "acceleration": [
            -0.7122325897216797,
            0.04139423370361328,
            0.011561661958694458
        ],
        "angular_velocity": [
            0.25840598344802856,
            0.0370885506272316,
            -1.9326505661010742
        ],
        "forward_vector": [
            0.9920256733894348,
            0.12575489282608032,
            0.008416671305894852
        ],
        "right_vector": [
            -0.12576059997081757,
            0.9920606017112732,
            0.00015019693819340318
        ],
        "location": [
            3562.263916015625,
            4244.81298828125,
            367.6379699707031
        ],
        "rotation": [
            -0.00860595516860485,
            0.48224547505378723,
            7.224609851837158
        ],
        "velocity": [
            7.767314910888672,
            0.999588131904602,
            0.07625249773263931
        ],
        "speed": 7.831370081815699,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 71.93052673339844,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.34521484375,
                4255.8125,
                368.3161315917969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.126197338104248,
                "transform": {
                    "location": {
                        "x": 3538.3271484375,
                        "y": 4240.79052734375,
                        "z": 367.4237365722656
                    },
                    "rotation": {
                        "roll": 0.0021438742987811565,
                        "pitch": 0.3449108600616455,
                        "yaw": 9.133628845214844
                    }
                },
                "velocity": {
                    "x": 3.0824100971221924,
                    "y": 0.5208107829093933,
                    "z": 0.024761484935879707
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.644631385803223,
                "transform": {
                    "location": {
                        "x": 3578.5810546875,
                        "y": 4244.02880859375,
                        "z": 367.7949523925781
                    },
                    "rotation": {
                        "roll": 0.008602944202721119,
                        "pitch": -1.1055617332458496,
                        "yaw": -170.84719848632812
                    }
                },
                "velocity": {
                    "x": -5.57270622253418,
                    "y": -0.8965454697608948,
                    "z": -0.054940689355134964
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3386030197143555,
                "transform": {
                    "location": {
                        "x": 3562.186279296875,
                        "y": 4241.4267578125,
                        "z": 367.6355895996094
                    },
                    "rotation": {
                        "roll": -0.0001220724225277081,
                        "pitch": -0.3886650502681732,
                        "yaw": -170.83604431152344
                    }
                },
                "velocity": {
                    "x": -5.27126407623291,
                    "y": -0.8437241315841675,
                    "z": -0.05088036507368088
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.711757183074951,
                "transform": {
                    "location": {
                        "x": 3548.520263671875,
                        "y": 4239.2568359375,
                        "z": 367.49505615234375
                    },
                    "rotation": {
                        "roll": -0.0005798295023851097,
                        "pitch": -0.4411960542201996,
                        "yaw": -170.9166259765625
                    }
                },
                "velocity": {
                    "x": -4.654119968414307,
                    "y": -0.7335178852081299,
                    "z": -0.042139895260334015
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.083348751068115,
                "transform": {
                    "location": {
                        "x": 3533.2412109375,
                        "y": 4238.44921875,
                        "z": 367.3634338378906
                    },
                    "rotation": {
                        "roll": 0.23550261557102203,
                        "pitch": -0.39925867319107056,
                        "yaw": 167.8184356689453
                    }
                },
                "velocity": {
                    "x": -5.802708148956299,
                    "y": 1.8257176876068115,
                    "z": -0.049667857587337494
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13102425634860992,
        "expert_target_speed": 10.0,
        "target_point": [
            25.7588590144804,
            0.5525710286981842
        ],
        "target_point_next": [
            27.75781792075169,
            0.6141726156910678
        ]
    },
    "325": {
        "acceleration": [
            -0.6510162353515625,
            -0.02215862274169922,
            -0.00551074743270874
        ],
        "angular_velocity": [
            -0.032989826053380966,
            -0.047362275421619415,
            3.2798430919647217
        ],
        "forward_vector": [
            0.9916268587112427,
            0.12885724008083344,
            0.008483188226819038
        ],
        "right_vector": [
            -0.1288655549287796,
            0.9916619658470154,
            0.00043887310312129557
        ],
        "location": [
            3564.184326171875,
            4245.06103515625,
            367.6565246582031
        ],
        "rotation": [
            -0.02514648251235485,
            0.48605671525001526,
            7.403829097747803
        ],
        "velocity": [
            7.603246212005615,
            0.991999089717865,
            0.07513034343719482
        ],
        "speed": 7.667686427755037,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 69.99469757080078,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.34521484375,
                4255.8125,
                368.3161315917969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.239771842956543,
                "transform": {
                    "location": {
                        "x": 3539.239013671875,
                        "y": 4240.943359375,
                        "z": 367.43115234375
                    },
                    "rotation": {
                        "roll": 0.005177639424800873,
                        "pitch": 0.3867321312427521,
                        "yaw": 9.295430183410645
                    }
                },
                "velocity": {
                    "x": 4.180431842803955,
                    "y": 0.7058534622192383,
                    "z": 0.03771058842539787
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.1377127170562744,
                "transform": {
                    "location": {
                        "x": 3577.7255859375,
                        "y": 4243.89306640625,
                        "z": 367.787841796875
                    },
                    "rotation": {
                        "roll": -0.003997782710939646,
                        "pitch": -1.5602678060531616,
                        "yaw": -170.62362670898438
                    }
                },
                "velocity": {
                    "x": -3.0975444316864014,
                    "y": -0.4995599389076233,
                    "z": -0.029974311590194702
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.114352703094482,
                "transform": {
                    "location": {
                        "x": 3560.831787109375,
                        "y": 4241.2109375,
                        "z": 367.62225341796875
                    },
                    "rotation": {
                        "roll": 0.003492251504212618,
                        "pitch": -0.43524011969566345,
                        "yaw": -170.98536682128906
                    }
                },
                "velocity": {
                    "x": -6.038597106933594,
                    "y": -0.9576831459999084,
                    "z": -0.05913390964269638
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.109249591827393,
                "transform": {
                    "location": {
                        "x": 3547.232421875,
                        "y": 4239.05322265625,
                        "z": 367.483154296875
                    },
                    "rotation": {
                        "roll": 9.187005343846977e-05,
                        "pitch": -0.4378082752227783,
                        "yaw": -170.9789276123047
                    }
                },
                "velocity": {
                    "x": -6.033853054046631,
                    "y": -0.955271303653717,
                    "z": -0.05480664595961571
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.931173324584961,
                "transform": {
                    "location": {
                        "x": 3531.7373046875,
                        "y": 4238.99951171875,
                        "z": 367.3521423339844
                    },
                    "rotation": {
                        "roll": 0.29190558195114136,
                        "pitch": -0.374540239572525,
                        "yaw": 159.7588653564453
                    }
                },
                "velocity": {
                    "x": -6.189237117767334,
                    "y": 3.1196348667144775,
                    "z": -0.04886874184012413
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.34521484375,
                        "y": 4255.8125,
                        "z": 368.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09923461079597473,
        "expert_target_speed": 10.0,
        "target_point": [
            23.8240987825709,
            0.47348496456947675
        ],
        "target_point_next": [
            25.823240595275937,
            0.5288336517786019
        ]
    },
    "330": {
        "acceleration": [
            -0.8765602111816406,
            -0.10564446449279785,
            -0.0028617680072784424
        ],
        "angular_velocity": [
            0.014750526286661625,
            0.055878058075904846,
            -2.7277491092681885
        ],
        "forward_vector": [
            0.9915112853050232,
            0.1297449767589569,
            0.00846590381115675
        ],
        "right_vector": [
            -0.12975339591503143,
            0.9915462136268616,
            0.0004505906836129725
        ],
        "location": [
            3566.060791015625,
            4245.3076171875,
            367.67486572265625
        ],
        "rotation": [
            -0.02581787109375,
            0.48506635427474976,
            7.455124378204346
        ],
        "velocity": [
            7.406857967376709,
            0.9727945327758789,
            0.0718679204583168
        ],
        "speed": 7.470466796117259,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 68.10272216796875,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.345458984375,
                4255.8125,
                368.3088684082031
            ],
            "velocity": [
                2.59854641626589e-05,
                -9.015266550704837e-05,
                -0.020827455446124077
            ],
            "speed_kmh": 0.0749796003742096,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2132086753845215,
                "transform": {
                    "location": {
                        "x": 3540.42236328125,
                        "y": 4241.14208984375,
                        "z": 367.44195556640625
                    },
                    "rotation": {
                        "roll": 0.005283962469547987,
                        "pitch": 0.3988010585308075,
                        "yaw": 9.427166938781738
                    }
                },
                "velocity": {
                    "x": 5.140196800231934,
                    "y": 0.8681270480155945,
                    "z": 0.04771425947546959
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.409578323364258,
                "transform": {
                    "location": {
                        "x": 3576.78369140625,
                        "y": 4243.7412109375,
                        "z": 367.775146484375
                    },
                    "rotation": {
                        "roll": 0.0033394380006939173,
                        "pitch": -0.5993354320526123,
                        "yaw": -170.72885131835938
                    }
                },
                "velocity": {
                    "x": -4.353720188140869,
                    "y": -0.6983733177185059,
                    "z": -0.04212073236703873
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.882486820220947,
                "transform": {
                    "location": {
                        "x": 3559.122314453125,
                        "y": 4240.93994140625,
                        "z": 367.6056823730469
                    },
                    "rotation": {
                        "roll": 0.0006900223670527339,
                        "pitch": -0.4354245364665985,
                        "yaw": -170.9799041748047
                    }
                },
                "velocity": {
                    "x": -6.797127723693848,
                    "y": -1.078582763671875,
                    "z": -0.0658300444483757
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.510313510894775,
                "transform": {
                    "location": {
                        "x": 3545.5849609375,
                        "y": 4238.79248046875,
                        "z": 367.46832275390625
                    },
                    "rotation": {
                        "roll": -6.104024214437231e-05,
                        "pitch": -0.4746434688568115,
                        "yaw": -171.00729370117188
                    }
                },
                "velocity": {
                    "x": -6.430078029632568,
                    "y": -1.017251968383789,
                    "z": -0.05894766375422478
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.62067985534668,
                "transform": {
                    "location": {
                        "x": 3530.165771484375,
                        "y": 4239.91064453125,
                        "z": 367.34075927734375
                    },
                    "rotation": {
                        "roll": 0.4053651690483093,
                        "pitch": -0.3585166037082672,
                        "yaw": 148.41737365722656
                    }
                },
                "velocity": {
                    "x": -5.921463489532471,
                    "y": 4.796821594238281,
                    "z": -0.039192795753479004
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.02082766592502594,
                "transform": {
                    "location": {
                        "x": 3633.345458984375,
                        "y": 4255.8125,
                        "z": 368.3088684082031
                    },
                    "rotation": {
                        "roll": -9.154971485259011e-05,
                        "pitch": 0.42371076345443726,
                        "yaw": 8.988434791564941
                    }
                },
                "velocity": {
                    "x": 2.59854641626589e-05,
                    "y": -9.015266550704837e-05,
                    "z": -0.020827455446124077
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.055818021297454834,
        "expert_target_speed": 10.0,
        "target_point": [
            21.93191656543773,
            0.45112597219834916
        ],
        "target_point_next": [
            23.93110713493457,
            0.5046846439168777
        ]
    },
    "335": {
        "acceleration": [
            -0.8358573913574219,
            -0.0975191593170166,
            0.007071346044540405
        ],
        "angular_velocity": [
            -0.07700595259666443,
            0.02089482545852661,
            3.0580787658691406
        ],
        "forward_vector": [
            0.9913824796676636,
            0.1307341456413269,
            0.008331678807735443
        ],
        "right_vector": [
            -0.13074186444282532,
            0.9914163947105408,
            0.00038827527896501124
        ],
        "location": [
            3567.88427734375,
            4245.546875,
            367.69268798828125
        ],
        "rotation": [
            -0.022247307002544403,
            0.4773755669593811,
            7.512280464172363
        ],
        "velocity": [
            7.19181489944458,
            0.9479286074638367,
            0.07182905077934265
        ],
        "speed": 7.254017520844665,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 66.2640609741211,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.345458984375,
                4255.8125,
                368.3063659667969
            ],
            "velocity": [
                4.9743128329282627e-05,
                -0.00014441793609876186,
                -0.004822729155421257
            ],
            "speed_kmh": 0.01737053063772684,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.711483001708984,
                "transform": {
                    "location": {
                        "x": 3541.746826171875,
                        "y": 4241.36572265625,
                        "z": 367.4534606933594
                    },
                    "rotation": {
                        "roll": 0.004968096036463976,
                        "pitch": 0.44674214720726013,
                        "yaw": 9.481657981872559
                    }
                },
                "velocity": {
                    "x": 5.631422996520996,
                    "y": 0.9516354203224182,
                    "z": 0.05004261061549187
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.375269889831543,
                "transform": {
                    "location": {
                        "x": 3575.5361328125,
                        "y": 4243.54052734375,
                        "z": 367.7618713378906
                    },
                    "rotation": {
                        "roll": 0.005345079582184553,
                        "pitch": -0.23473992943763733,
                        "yaw": -170.83775329589844
                    }
                },
                "velocity": {
                    "x": -5.307595729827881,
                    "y": -0.8487181663513184,
                    "z": -0.051315855234861374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.0331501960754395,
                "transform": {
                    "location": {
                        "x": 3557.53076171875,
                        "y": 4240.68701171875,
                        "z": 367.5901794433594
                    },
                    "rotation": {
                        "roll": -0.0007934559835121036,
                        "pitch": -0.6000935435295105,
                        "yaw": -170.98048400878906
                    }
                },
                "velocity": {
                    "x": -5.958289623260498,
                    "y": -0.9457472562789917,
                    "z": -0.05698929727077484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.158562183380127,
                "transform": {
                    "location": {
                        "x": 3544.10302734375,
                        "y": 4238.55810546875,
                        "z": 367.45550537109375
                    },
                    "rotation": {
                        "roll": 0.0007648615282960236,
                        "pitch": -0.5648497939109802,
                        "yaw": -171.0144805908203
                    }
                },
                "velocity": {
                    "x": -5.095049858093262,
                    "y": -0.8057243824005127,
                    "z": -0.045183856040239334
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.080095291137695,
                "transform": {
                    "location": {
                        "x": 3528.720458984375,
                        "y": 4241.2265625,
                        "z": 367.3333435058594
                    },
                    "rotation": {
                        "roll": 0.47363942861557007,
                        "pitch": -0.10110045224428177,
                        "yaw": 134.63197326660156
                    }
                },
                "velocity": {
                    "x": -4.930251598358154,
                    "y": 6.4015631675720215,
                    "z": 0.02340959571301937
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004825147334486246,
                "transform": {
                    "location": {
                        "x": 3633.345458984375,
                        "y": 4255.8125,
                        "z": 368.3063659667969
                    },
                    "rotation": {
                        "roll": 0.000345387845300138,
                        "pitch": 0.4303770363330841,
                        "yaw": 8.988465309143066
                    }
                },
                "velocity": {
                    "x": 4.9743128329282627e-05,
                    "y": -0.00014441793609876186,
                    "z": -0.004822729155421257
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.019675804302096367,
        "expert_target_speed": 10.0,
        "target_point": [
            20.093240323876064,
            0.43044351833293515
        ],
        "target_point_next": [
            22.092483325770154,
            0.4820078845063742
        ]
    },
    "340": {
        "acceleration": [
            -0.06134033203125,
            0.004341602325439453,
            -0.024917572736740112
        ],
        "angular_velocity": [
            0.0479581318795681,
            -0.1922478973865509,
            -2.8502087593078613
        ],
        "forward_vector": [
            0.9913917779922485,
            0.13064636290073395,
            0.008588328026235104
        ],
        "right_vector": [
            -0.13065433502197266,
            0.9914278984069824,
            0.00037229605368338525
        ],
        "location": [
            3569.66064453125,
            4245.78125,
            367.7101745605469
        ],
        "rotation": [
            -0.021331779658794403,
            0.492080956697464,
            7.507223606109619
        ],
        "velocity": [
            7.059544086456299,
            0.9335634112358093,
            0.06830865889787674
        ],
        "speed": 7.1210043779946055,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 64.47276306152344,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.345458984375,
                4255.8125,
                368.3059997558594
            ],
            "velocity": [
                -7.355585694313049e-06,
                -0.00010236529487883672,
                -0.0010045000817626715
            ],
            "speed_kmh": 0.0036350253252997915,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.702458381652832,
                "transform": {
                    "location": {
                        "x": 3543.217529296875,
                        "y": 4241.6103515625,
                        "z": 367.46685791015625
                    },
                    "rotation": {
                        "roll": -0.0028381336014717817,
                        "pitch": 0.4119286835193634,
                        "yaw": 9.465795516967773
                    }
                },
                "velocity": {
                    "x": 6.614260196685791,
                    "y": 1.082061767578125,
                    "z": 0.060465533286333084
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.178945064544678,
                "transform": {
                    "location": {
                        "x": 3574.1650390625,
                        "y": 4243.3212890625,
                        "z": 367.74835205078125
                    },
                    "rotation": {
                        "roll": 0.004068293608725071,
                        "pitch": -0.2465493232011795,
                        "yaw": -170.89488220214844
                    }
                },
                "velocity": {
                    "x": -6.101400852203369,
                    "y": -0.9739405512809753,
                    "z": -0.060927629470825195
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.460010051727295,
                "transform": {
                    "location": {
                        "x": 3556.1455078125,
                        "y": 4240.46728515625,
                        "z": 367.5770263671875
                    },
                    "rotation": {
                        "roll": 7.944570097606629e-05,
                        "pitch": -0.6256657838821411,
                        "yaw": -170.9514617919922
                    }
                },
                "velocity": {
                    "x": -5.392368793487549,
                    "y": -0.8551996350288391,
                    "z": -0.05199773237109184
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.093920946121216,
                "transform": {
                    "location": {
                        "x": 3543.256103515625,
                        "y": 4238.423828125,
                        "z": 367.4482727050781
                    },
                    "rotation": {
                        "roll": 0.0011138443369418383,
                        "pitch": -0.6110833287239075,
                        "yaw": -171.02139282226562
                    }
                },
                "velocity": {
                    "x": -3.0559041500091553,
                    "y": -0.4826880991458893,
                    "z": -0.02843821421265602
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.577515602111816,
                "transform": {
                    "location": {
                        "x": 3527.571533203125,
                        "y": 4242.9541015625,
                        "z": 367.3390808105469
                    },
                    "rotation": {
                        "roll": 0.26823145151138306,
                        "pitch": 0.5309993624687195,
                        "yaw": 119.43956756591797
                    }
                },
                "velocity": {
                    "x": -3.3330094814300537,
                    "y": 7.903207778930664,
                    "z": 0.06421205401420593
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010097292251884937,
                "transform": {
                    "location": {
                        "x": 3633.345458984375,
                        "y": 4255.8125,
                        "z": 368.3059997558594
                    },
                    "rotation": {
                        "roll": 0.001125548966228962,
                        "pitch": 0.431497186422348,
                        "yaw": 8.988475799560547
                    }
                },
                "velocity": {
                    "x": -7.355585694313049e-06,
                    "y": -0.00010236529487883672,
                    "z": -0.0010045000817626715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02235191874206066,
        "expert_target_speed": 10.0,
        "target_point": [
            18.301439976700493,
            0.4319365776589472
        ],
        "target_point_next": [
            20.3006784159036,
            0.4836775449293613
        ]
    },
    "345": {
        "acceleration": [
            2.2174644470214844,
            0.3010404109954834,
            0.0388123095035553
        ],
        "angular_velocity": [
            0.047963254153728485,
            -0.7347168326377869,
            2.770510196685791
        ],
        "forward_vector": [
            0.9912520051002502,
            0.131540909409523,
            0.01078668050467968
        ],
        "right_vector": [
            -0.13155224919319153,
            0.9913091659545898,
            0.0003456582489889115
        ],
        "location": [
            3571.45556640625,
            4246.01904296875,
            367.7272644042969
        ],
        "rotation": [
            -0.0198059119284153,
            0.6180433034896851,
            7.559087753295898
        ],
        "velocity": [
            7.379075527191162,
            0.9788483381271362,
            0.07271886616945267
        ],
        "speed": 7.443715450300729,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 62.66263198852539,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.345458984375,
                4255.8125,
                368.3058776855469
            ],
            "velocity": [
                -5.366221012081951e-05,
                0.00017135166854131967,
                -0.0020742984488606453
            ],
            "speed_kmh": 0.00749539978009192,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.077581405639648,
                "transform": {
                    "location": {
                        "x": 3545.06396484375,
                        "y": 4241.91357421875,
                        "z": 367.484130859375
                    },
                    "rotation": {
                        "roll": 0.0019021525513380766,
                        "pitch": 0.3788910508155823,
                        "yaw": 9.348064422607422
                    }
                },
                "velocity": {
                    "x": 7.971218585968018,
                    "y": 1.3044776916503906,
                    "z": 0.07303903251886368
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.778631687164307,
                "transform": {
                    "location": {
                        "x": 3572.4296875,
                        "y": 4243.04443359375,
                        "z": 367.730224609375
                    },
                    "rotation": {
                        "roll": 0.003324732184410095,
                        "pitch": 0.022116150707006454,
                        "yaw": -170.93128967285156
                    }
                },
                "velocity": {
                    "x": -7.681337833404541,
                    "y": -1.224125623703003,
                    "z": -0.07536953687667847
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5439863204956055,
                "transform": {
                    "location": {
                        "x": 3554.76806640625,
                        "y": 4240.24853515625,
                        "z": 367.56402587890625
                    },
                    "rotation": {
                        "roll": 0.0009640354546718299,
                        "pitch": -0.5537370443344116,
                        "yaw": -171.01492309570312
                    }
                },
                "velocity": {
                    "x": -5.475236892700195,
                    "y": -0.8687961101531982,
                    "z": -0.05251225456595421
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.030210494995117,
                "transform": {
                    "location": {
                        "x": 3542.3984375,
                        "y": 4238.27783203125,
                        "z": 367.43963623046875
                    },
                    "rotation": {
                        "roll": -0.0507812425494194,
                        "pitch": -0.49355626106262207,
                        "yaw": -170.35202026367188
                    }
                },
                "velocity": {
                    "x": -3.9217588901519775,
                    "y": -0.9279854893684387,
                    "z": -0.03529071807861328
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.25447940826416,
                "transform": {
                    "location": {
                        "x": 3526.80419921875,
                        "y": 4245.03466796875,
                        "z": 367.35552978515625
                    },
                    "rotation": {
                        "roll": 0.09189828485250473,
                        "pitch": 0.39229872822761536,
                        "yaw": 106.15541076660156
                    }
                },
                "velocity": {
                    "x": -2.1435346603393555,
                    "y": 9.002687454223633,
                    "z": 0.04757315665483475
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0020820554345846176,
                "transform": {
                    "location": {
                        "x": 3633.345458984375,
                        "y": 4255.8125,
                        "z": 368.3058776855469
                    },
                    "rotation": {
                        "roll": 0.000266251532593742,
                        "pitch": 0.43217337131500244,
                        "yaw": 8.98851490020752
                    }
                },
                "velocity": {
                    "x": -5.366221012081951e-05,
                    "y": 0.00017135166854131967,
                    "z": -0.0020742984488606453
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05931862071156502,
        "expert_target_speed": 10.0,
        "target_point": [
            16.4912186610368,
            0.41576131686674556
        ],
        "target_point_next": [
            18.490503120844163,
            0.4656924019154123
        ]
    },
    "350": {
        "acceleration": [
            3.390188217163086,
            0.4736518859863281,
            0.04136964678764343
        ],
        "angular_velocity": [
            0.07114942371845245,
            -0.6267585754394531,
            -2.239060640335083
        ],
        "forward_vector": [
            0.991212010383606,
            0.13154134154319763,
            0.013987322337925434
        ],
        "right_vector": [
            -0.13155916333198547,
            0.9913082718849182,
            0.000357361335773021
        ],
        "location": [
            3573.396240234375,
            4246.27685546875,
            367.74560546875
        ],
        "rotation": [
            -0.0204772986471653,
            0.8014407157897949,
            7.559413909912109
        ],
        "velocity": [
            8.141886711120605,
            1.0840471982955933,
            0.07937867939472198
        ],
        "speed": 8.213737124163083,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 60.705448150634766,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.345458984375,
                4255.8125,
                368.3058776855469
            ],
            "velocity": [
                1.1819601240858901e-05,
                -3.0849583708914e-05,
                -0.000610612565651536
            ],
            "speed_kmh": 0.0022014201785111234,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.920059204101562,
                "transform": {
                    "location": {
                        "x": 3547.166259765625,
                        "y": 4242.25732421875,
                        "z": 367.50311279296875
                    },
                    "rotation": {
                        "roll": 0.001956431893631816,
                        "pitch": 0.42204418778419495,
                        "yaw": 9.299856185913086
                    }
                },
                "velocity": {
                    "x": 8.803009033203125,
                    "y": 1.4380035400390625,
                    "z": 0.08144231885671616
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.267364501953125,
                "transform": {
                    "location": {
                        "x": 3570.390625,
                        "y": 4242.72021484375,
                        "z": 367.710693359375
                    },
                    "rotation": {
                        "roll": 0.004568369127810001,
                        "pitch": -0.14291487634181976,
                        "yaw": -170.96463012695312
                    }
                },
                "velocity": {
                    "x": -8.164671897888184,
                    "y": -1.296571135520935,
                    "z": -0.07971465587615967
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.081968784332275,
                "transform": {
                    "location": {
                        "x": 3553.3232421875,
                        "y": 4240.01904296875,
                        "z": 367.5502014160156
                    },
                    "rotation": {
                        "roll": -0.0103759765625,
                        "pitch": -0.6055303812026978,
                        "yaw": -170.5966796875
                    }
                },
                "velocity": {
                    "x": -5.017412185668945,
                    "y": -0.8061199188232422,
                    "z": -0.046414077281951904
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.998833656311035,
                "transform": {
                    "location": {
                        "x": 3541.289306640625,
                        "y": 4238.0205078125,
                        "z": 367.42919921875
                    },
                    "rotation": {
                        "roll": -0.05703732743859291,
                        "pitch": -0.4458610713481903,
                        "yaw": -168.18101501464844
                    }
                },
                "velocity": {
                    "x": -4.847748756408691,
                    "y": -1.2188942432403564,
                    "z": -0.044349487870931625
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.091161727905273,
                "transform": {
                    "location": {
                        "x": 3526.298095703125,
                        "y": 4247.3994140625,
                        "z": 367.3681945800781
                    },
                    "rotation": {
                        "roll": 0.06881552934646606,
                        "pitch": 0.141268789768219,
                        "yaw": 99.25492858886719
                    }
                },
                "velocity": {
                    "x": -1.6009740829467773,
                    "y": 9.963315963745117,
                    "z": 0.027750376611948013
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006115055875852704,
                "transform": {
                    "location": {
                        "x": 3633.345458984375,
                        "y": 4255.8125,
                        "z": 368.3058776855469
                    },
                    "rotation": {
                        "roll": 0.000266251532593742,
                        "pitch": 0.43217337131500244,
                        "yaw": 8.98851490020752
                    }
                },
                "velocity": {
                    "x": 1.1819601240858901e-05,
                    "y": -3.0849583708914e-05,
                    "z": -0.000610612565651536
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09938754141330719,
        "expert_target_speed": 10.0,
        "target_point": [
            14.5334972813445,
            0.41540053579333125
        ],
        "target_point_next": [
            16.532782020876194,
            0.465320419177051
        ]
    },
    "355": {
        "acceleration": [
            2.6372528076171875,
            0.3645491600036621,
            0.025740861892700195
        ],
        "angular_velocity": [
            0.039152950048446655,
            0.044516127556562424,
            2.3009438514709473
        ],
        "forward_vector": [
            0.9910656213760376,
            0.13241884112358093,
            0.015944398939609528
        ],
        "right_vector": [
            -0.13244126737117767,
            0.9911907911300659,
            0.00035415517049841583
        ],
        "location": [
            3575.5478515625,
            4246.5634765625,
            367.7663269042969
        ],
        "rotation": [
            -0.020294176414608955,
            0.9135855436325073,
            7.610363006591797
        ],
        "velocity": [
            8.987533569335938,
            1.200510859489441,
            0.08789083361625671
        ],
        "speed": 9.067358269291693,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 58.53544998168945,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.345458984375,
                4255.8125,
                368.3058776855469
            ],
            "velocity": [
                -1.9698141841217875e-05,
                5.508284084498882e-05,
                -0.0015032264636829495
            ],
            "speed_kmh": 0.0054157114682140605,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.835047721862793,
                "transform": {
                    "location": {
                        "x": 3549.48583984375,
                        "y": 4242.6328125,
                        "z": 367.52447509765625
                    },
                    "rotation": {
                        "roll": -0.0028991701547056437,
                        "pitch": 0.43050679564476013,
                        "yaw": 9.188752174377441
                    }
                },
                "velocity": {
                    "x": 9.710206031799316,
                    "y": 1.559531331062317,
                    "z": 0.08902541548013687
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.224982738494873,
                "transform": {
                    "location": {
                        "x": 3568.487060546875,
                        "y": 4242.41748046875,
                        "z": 367.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0025256886146962643,
                        "pitch": -0.7084066867828369,
                        "yaw": -170.97825622558594
                    }
                },
                "velocity": {
                    "x": -7.135243892669678,
                    "y": -1.1329845190048218,
                    "z": -0.07085221260786057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004458974581211805,
                "transform": {
                    "location": {
                        "x": 3552.888671875,
                        "y": 4239.94970703125,
                        "z": 367.5450744628906
                    },
                    "rotation": {
                        "roll": -0.0326843187212944,
                        "pitch": -1.178863286972046,
                        "yaw": -170.16531372070312
                    }
                },
                "velocity": {
                    "x": 0.004322087857872248,
                    "y": -0.00015434685337822884,
                    "z": 0.0010854442371055484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.5496115684509277,
                "transform": {
                    "location": {
                        "x": 3540.3037109375,
                        "y": 4237.77978515625,
                        "z": 367.4212341308594
                    },
                    "rotation": {
                        "roll": -0.0408935546875,
                        "pitch": -0.5768709182739258,
                        "yaw": -166.92376708984375
                    }
                },
                "velocity": {
                    "x": -3.437732219696045,
                    "y": -0.8836084008216858,
                    "z": -0.03124658577144146
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.811779022216797,
                "transform": {
                    "location": {
                        "x": 3525.905517578125,
                        "y": 4249.99365234375,
                        "z": 367.3743591308594
                    },
                    "rotation": {
                        "roll": 0.02188701182603836,
                        "pitch": 0.1726057082414627,
                        "yaw": 97.43415832519531
                    }
                },
                "velocity": {
                    "x": -1.4529792070388794,
                    "y": 10.713664054870605,
                    "z": 0.028703955933451653
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001504364307038486,
                "transform": {
                    "location": {
                        "x": 3633.345458984375,
                        "y": 4255.8125,
                        "z": 368.3058776855469
                    },
                    "rotation": {
                        "roll": 0.000266251532593742,
                        "pitch": 0.43217337131500244,
                        "yaw": 8.98851490020752
                    }
                },
                "velocity": {
                    "x": -1.9698141841217875e-05,
                    "y": 5.508284084498882e-05,
                    "z": -0.0015032264636829495
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6090375781059265,
                "transform": {
                    "location": {
                        "x": 3643.259521484375,
                        "y": 4257.380859375,
                        "z": 368.4164733886719
                    },
                    "rotation": {
                        "roll": 0.0007458612089976668,
                        "pitch": 0.36256691813468933,
                        "yaw": 8.988409042358398
                    }
                },
                "velocity": {
                    "x": 0.004158404190093279,
                    "y": 0.0005961369606666267,
                    "z": -0.6090230941772461
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1291676163673401,
        "expert_target_speed": 10.0,
        "target_point": [
            12.363243013123007,
            0.40332912567656964
        ],
        "target_point_next": [
            14.362571355892124,
            0.45147102303687126
        ]
    },
    "360": {
        "acceleration": [
            5.1718902587890625,
            0.8318185806274414,
            0.03783956170082092
        ],
        "angular_velocity": [
            0.20203836262226105,
            -0.9057602882385254,
            -0.0050253113731741905
        ],
        "forward_vector": [
            0.9909054636955261,
            0.13343416154384613,
            0.017368871718645096
        ],
        "right_vector": [
            -0.13346518576145172,
            0.9910532832145691,
            0.0006348018650896847
        ],
        "location": [
            3577.885498046875,
            4246.87841796875,
            367.7889709472656
        ],
        "rotation": [
            -0.0363769568502903,
            0.9952131509780884,
            7.669248580932617
        ],
        "velocity": [
            10.015578269958496,
            1.3620929718017578,
            0.09782907366752625
        ],
        "speed": 10.107774500130905,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 56.177330017089844,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.345458984375,
                4255.8125,
                368.3058776855469
            ],
            "velocity": [
                -3.346018274896778e-05,
                5.664173295372166e-05,
                -0.0005455853533931077
            ],
            "speed_kmh": 0.0019783342914228767,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.642114639282227,
                "transform": {
                    "location": {
                        "x": 3552.016845703125,
                        "y": 4243.03955078125,
                        "z": 367.54803466796875
                    },
                    "rotation": {
                        "roll": 0.00021353649208322167,
                        "pitch": 0.4432382583618164,
                        "yaw": 9.122442245483398
                    }
                },
                "velocity": {
                    "x": 10.507386207580566,
                    "y": 1.6851054430007935,
                    "z": 0.09927304834127426
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.962442636489868,
                "transform": {
                    "location": {
                        "x": 3567.021728515625,
                        "y": 4242.18505859375,
                        "z": 367.68218994140625
                    },
                    "rotation": {
                        "roll": 0.0023399998899549246,
                        "pitch": -1.4217243194580078,
                        "yaw": -171.03050231933594
                    }
                },
                "velocity": {
                    "x": -3.913564443588257,
                    "y": -0.619005024433136,
                    "z": -0.04239377751946449
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2821569442749023,
                "transform": {
                    "location": {
                        "x": 3552.69921875,
                        "y": 4239.91943359375,
                        "z": 367.54425048828125
                    },
                    "rotation": {
                        "roll": -0.010131841525435448,
                        "pitch": -0.5652732253074646,
                        "yaw": -170.31414794921875
                    }
                },
                "velocity": {
                    "x": -1.26561439037323,
                    "y": -0.20502357184886932,
                    "z": -0.01057747844606638
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.376534461975098,
                "transform": {
                    "location": {
                        "x": 3539.33935546875,
                        "y": 4237.53662109375,
                        "z": 367.41168212890625
                    },
                    "rotation": {
                        "roll": -0.046112071722745895,
                        "pitch": -0.476590096950531,
                        "yaw": -166.24009704589844
                    }
                },
                "velocity": {
                    "x": -4.236650466918945,
                    "y": -1.096980094909668,
                    "z": -0.03847320005297661
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.875216484069824,
                "transform": {
                    "location": {
                        "x": 3525.536865234375,
                        "y": 4252.69189453125,
                        "z": 367.38214111328125
                    },
                    "rotation": {
                        "roll": -0.0029907235875725746,
                        "pitch": 0.17952467501163483,
                        "yaw": 97.70967864990234
                    }
                },
                "velocity": {
                    "x": -1.5223498344421387,
                    "y": 10.768085479736328,
                    "z": 0.03320314362645149
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005495373043231666,
                "transform": {
                    "location": {
                        "x": 3633.345458984375,
                        "y": 4255.8125,
                        "z": 368.3058776855469
                    },
                    "rotation": {
                        "roll": 0.000266251532593742,
                        "pitch": 0.43217337131500244,
                        "yaw": 8.98851490020752
                    }
                },
                "velocity": {
                    "x": -3.346018274896778e-05,
                    "y": 5.664173295372166e-05,
                    "z": -0.0005455853533931077
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.009461604058742523,
                "transform": {
                    "location": {
                        "x": 3643.260009765625,
                        "y": 4257.380859375,
                        "z": 368.3705749511719
                    },
                    "rotation": {
                        "roll": 0.0005355637986212969,
                        "pitch": 0.3656063377857208,
                        "yaw": 8.988422393798828
                    }
                },
                "velocity": {
                    "x": -0.00011566690955078229,
                    "y": -0.00010574181942502037,
                    "z": 0.00946030579507351
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32962530851364136,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15551842749118805,
        "expert_target_speed": 10.0,
        "target_point": [
            10.004884539943884,
            0.3904675038743799
        ],
        "target_point_next": [
            12.00426130247111,
            0.4365546598671701
        ]
    },
    "365": {
        "acceleration": [
            2.8147125244140625,
            0.599973201751709,
            0.029811859130859375
        ],
        "angular_velocity": [
            0.046188436448574066,
            0.3448731303215027,
            2.5404462814331055
        ],
        "forward_vector": [
            0.99028080701828,
            0.1379920095205307,
            0.017378168180584908
        ],
        "right_vector": [
            -0.13803154230117798,
            0.9904271960258484,
            0.00109066569712013
        ],
        "location": [
            3580.5048828125,
            4247.240234375,
            367.8146667480469
        ],
        "rotation": [
            -0.0624999962747097,
            0.9957458972930908,
            7.932875156402588
        ],
        "velocity": [
            10.837308883666992,
            1.5232453346252441,
            0.10579648613929749
        ],
        "speed": 10.94383571648739,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 53.53364562988281,
        "front_vehicle_info": {
            "id": 4317,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.345458984375,
                4255.8125,
                368.3058776855469
            ],
            "velocity": [
                -1.2434944437700324e-05,
                -1.5403813449665904e-05,
                0.00020940948161296546
            ],
            "speed_kmh": 0.0007572353019146543,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4328,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.580880165100098,
                "transform": {
                    "location": {
                        "x": 3539.841064453125,
                        "y": 4241.02294921875,
                        "z": 367.7144775390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5032073259353638,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 10.361957550048828,
                    "y": 1.6390159130096436,
                    "z": -1.3778610229492188
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4327,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.486605644226074,
                "transform": {
                    "location": {
                        "x": 3554.75341796875,
                        "y": 4243.4765625,
                        "z": 367.5738830566406
                    },
                    "rotation": {
                        "roll": -0.0006408703629858792,
                        "pitch": 0.4516667127609253,
                        "yaw": 9.063965797424316
                    }
                },
                "velocity": {
                    "x": 11.343438148498535,
                    "y": 1.8046869039535522,
                    "z": 0.10785526037216187
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4326,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.48378491401672363,
                "transform": {
                    "location": {
                        "x": 3566.66748046875,
                        "y": 4242.12890625,
                        "z": 367.681396484375
                    },
                    "rotation": {
                        "roll": 0.004345852416008711,
                        "pitch": -2.1986923217773438,
                        "yaw": -171.02066040039062
                    }
                },
                "velocity": {
                    "x": -0.4777291715145111,
                    "y": -0.07617958635091782,
                    "z": -0.0044002532958984375
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4325,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1997315883636475,
                "transform": {
                    "location": {
                        "x": 3552.26220703125,
                        "y": 4239.84912109375,
                        "z": 367.54034423828125
                    },
                    "rotation": {
                        "roll": -0.0011901864781975746,
                        "pitch": -0.42504948377609253,
                        "yaw": -170.59559631347656
                    }
                },
                "velocity": {
                    "x": -2.1718344688415527,
                    "y": -0.3486288785934448,
                    "z": -0.020309265702962875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4322,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.3772497177124023,
                "transform": {
                    "location": {
                        "x": 3538.42626953125,
                        "y": 4237.30224609375,
                        "z": 367.40447998046875
                    },
                    "rotation": {
                        "roll": -0.047454822808504105,
                        "pitch": -0.6207890510559082,
                        "yaw": -165.8303985595703
                    }
                },
                "velocity": {
                    "x": -2.300493001937866,
                    "y": -0.5988328456878662,
                    "z": -0.021133441478013992
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4319,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.716861724853516,
                "transform": {
                    "location": {
                        "x": 3525.156494140625,
                        "y": 4255.36083984375,
                        "z": 367.3906555175781
                    },
                    "rotation": {
                        "roll": -0.0071716331876814365,
                        "pitch": 0.1779264211654663,
                        "yaw": 98.34223937988281
                    }
                },
                "velocity": {
                    "x": -1.5607306957244873,
                    "y": 10.602553367614746,
                    "z": 0.03343171998858452
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4317,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002103431470459327,
                "transform": {
                    "location": {
                        "x": 3633.345458984375,
                        "y": 4255.8125,
                        "z": 368.3058776855469
                    },
                    "rotation": {
                        "roll": 0.000266251532593742,
                        "pitch": 0.43217337131500244,
                        "yaw": 8.98851490020752
                    }
                },
                "velocity": {
                    "x": -1.2434944437700324e-05,
                    "y": -1.5403813449665904e-05,
                    "z": 0.00020940948161296546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4316,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.01807471551001072,
                "transform": {
                    "location": {
                        "x": 3643.260009765625,
                        "y": 4257.380859375,
                        "z": 368.3756103515625
                    },
                    "rotation": {
                        "roll": 0.0003144217189401388,
                        "pitch": 0.3612213730812073,
                        "yaw": 8.988444328308105
                    }
                },
                "velocity": {
                    "x": -0.00012366700684651732,
                    "y": -0.00010053501318907365,
                    "z": 0.01807401329278946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.16415895521640778,
        "expert_target_speed": 10.0,
        "target_point": [
            9.361889153770596,
            0.3844714672594032
        ],
        "target_point_next": [
            9.361889153770596,
            0.3844714672594032
        ]
    }
}